This paper deals with the kinematic synthesis of a planar tendon-driven robotic arm to remove skins by wine fermentation tanks, with three d.o.f.s and thus, one time redundant. This redundancy is required in order to obtain a deployable mechanism in the form of robotic arm, which shows a wide workspace, but occupies a small volume when fully flexed. The type and dimensional kinematic synthesis of the proposed robotic arm is developed through a serial combination of endless tendon-driven kinematic chains, which joints are remotely actuated. The synthesis methodology is first applied to a Cardan mechanism, a parallel motion generator, a robotic finger, and then, to the synthesis of the proposed robotic arm with the aim to satisfy the design specifications.
CITATION STYLE
Figliolini, G., Lanni, C., Di Donato, L., Melloni, R., & Bacchetta, A. P. (2021). Kinematic Synthesis of a Tendon-Driven Robotic Arm. In Mechanisms and Machine Science (Vol. 91, pp. 386–393). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-55807-9_44
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