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arXiv · 2409.00616

Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms

Junhyoung Ha·Chaewon Kim·Chunwoo Kim
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Abstract

This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at https://github.com/hjhdog1/RollingJoint.

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Junhyoung Ha, Chaewon Kim, Chunwoo Kim. 2024-09-01. Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms. https://arxiv.org/abs/2409.00616

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