Development of a Semi-Rigid Tendon Actuated Limb for Robotics Applications
- Resource Type
- Conference
- Authors
- Nurtay, Bekarys; Suranshy, Tomiris; Folgheraiter, Michele
- Source
- 2020 5th International Conference on Robotics and Automation Engineering (ICRAE) Robotics and Automation Engineering (ICRAE), 2020 5th International Conference on. :31-35 Nov, 2020
- Subject
- Robotics and Control Systems
Robots
Tendons
Robot sensing systems
Springs
Bending
Mathematical model
Force
Soft Robotics
Tendon Actuation
Biorobotics
Continuous Manipulator.
- Language
This paper presents the design and modeling of a lightweight tendon actuated robotic limb. The mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. This allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories.