Smart tendon actuated flexible actuator

We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mec...

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Main Authors:	Billah, Md. Masum, Khan, Md. Raisuddin
Format:	Article
Language:	English
Published:	Hindawi Publishing Corporation 2015
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/1/295410.pdf

id	iium-41050
recordtype	eprints
spelling	iium-410502016-11-10T03:05:12Z http://irep.iium.edu.my/41050/ Smart tendon actuated flexible actuator Billah, Md. Masum Khan, Md. Raisuddin TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve DOFs with tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian. Hindawi Publishing Corporation 2015 Article PeerReviewed application/pdf en http://irep.iium.edu.my/41050/1/295410.pdf Billah, Md. Masum and Khan, Md. Raisuddin (2015) Smart tendon actuated flexible actuator. Journal of Robotics, 2015. pp. 1-10. ISSN 1687-9600 http://www.hindawi.com/journals/jr/2015/295410/ http://dx.doi.org/10.1155/2015/295410
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Billah, Md. Masum Khan, Md. Raisuddin Smart tendon actuated flexible actuator
description	We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve DOFs with tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.
format	Article
author	Billah, Md. Masum Khan, Md. Raisuddin
author_facet	Billah, Md. Masum Khan, Md. Raisuddin
author_sort	Billah, Md. Masum
title	Smart tendon actuated flexible actuator
title_short	Smart tendon actuated flexible actuator
title_full	Smart tendon actuated flexible actuator
title_fullStr	Smart tendon actuated flexible actuator
title_full_unstemmed	Smart tendon actuated flexible actuator
title_sort	smart tendon actuated flexible actuator
publisher	Hindawi Publishing Corporation
publishDate	2015
url	http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/ http://irep.iium.edu.my/41050/1/295410.pdf
first_indexed	2023-09-18T20:58:48Z
last_indexed	2023-09-18T20:58:48Z
_version_	1777410484031455232

Smart tendon actuated flexible actuator

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