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Analysis and optimization of a wire actuated, single effect n-R robotic structure

Published online by Cambridge University Press:  06 August 2013

Alain Favetto ,
Silvia Appendino ,
Alessandro Battezzato ,
Fai Chen Chen ,
Mehdi Mousavi ,
Francesco Pescarmona  and
Giuseppe Carlo Calafiore
Alain Favetto*
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy Dipartimento di Automatica e Informatica, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Turin, Italy
Silvia Appendino
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy
Alessandro Battezzato
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy
Fai Chen Chen
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy Dipartimento di Meccanica, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Turin, Italy
Mehdi Mousavi
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy Dipartimento di Meccanica, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Turin, Italy
Francesco Pescarmona
Affiliation:
Istituto Italiano di Tecnologia IIT@Polito, Center for Space Human Robotics, Corso Trento 21, 10129 Turin, Italy
Giuseppe Carlo Calafiore
Affiliation:
Dipartimento di Automatica e Informatica, Politecnico di Torino, Corso Duca Degli Abruzzi 24, 10129 Turin, Italy
*
*Corresponding author. E-mail: alain.favetto@polito.it
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Summary

This paper investigates the kinematics and the optimization of a generic robotic structure composed by N serial rotary joints and actuated with a mono-directional tendon system. In the first part of the paper, the specific case that brought us to develop this study is introduced; the main motivations and the scenario with its specific constraints and design choices have been described.

Since a complete and detailed analysis of an n-R serial structure with this kind of characteristics could not be found in the literature, the study of the kinematics and the parameter optimization of such a structure is treated as generally as possible, in order to make the procedure and the results applicable for any similar structure. Finally, in the last part, through the introduction of specific constraints and the definition of the parameters, the general analysis has been applied to the specific case of study: the preliminary study of a finger exoskeleton for an astronaut suit.

Keywords

ExoskeletonsBiomimetic robotsGraspingDesignSpace robotics
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 357 - 373
Copyright
Copyright © Cambridge University Press 2013 

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