リンク上に可変剛性機構を有する腱駆動ロボットの剛性評価

Translated title of the contribution: Stiffness Evaluation for a Tendon-Driven Robot with Variable Stiffness Mechanisms

松谷 祐希, 田原 健二, 木野 仁, 越智 裕章

Research output: Contribution to journalArticle

Abstract

<p>This paper proposes a new tendon-driven robot with variable stiffness mechanisms. The tendon-driven robot is able to change stiffness by sliding variable stiffness mechanisms over the link 1 by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed by a position of variable mechanism. The stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.</p>
Translated title of the contributionStiffness Evaluation for a Tendon-Driven Robot with Variable Stiffness Mechanisms
Original languageJapanese
Pages (from-to)2P2-12a2
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2016
Issue number0
DOIs
Publication statusPublished - 2016

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