Abstract
This paper presents a method for mechanical stiffness control of the Tendon-Driven joints of manipulator. A system fundamentally mimicking a skeletal muscle system requires a non-linear elastic element to regulate stiffness of a joint. One proposes a new actuator having a non-linear elastic element, which is called ANLES. This system gives us a free-hand for designing the elastic characteristics. At first this paper describes the equations for designing the elastic characteristics of ANLES. Next the basic formula for controlling the stiffness and posture of the multi-D.O.F. joints by multiple-ANLES throughout tendons is derived. It follows the computer simulation of 3 D.O.F. joint that is manipulated by 6 tendons or 8 tendons. The performance of controlling stiffness is evaluated by depicting stiffness ellipsoid.
