The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 1A1-M02
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Design Optimization of Wire Arrangement with Variable Relay Points for Tendon-driven Robots
*Kento KAWAHARAZUKAShunnosuke YOSHIMURATemma SUZUKIKei OKADAMasayuki INABA
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Abstract

In tendon-driven robots, the ease of wire arrangement and its degrees of freedom are significant features. By ingeniously arranging wires, it is possible to construct a body that meets desired characteristics. Various wire arrangement optimization methods have been proposed; however, they often simplify the problem by assuming a constant moment arm or ignoring wire configurations with diverse relay points. In this study, we formulate a wire arrangement optimization problem with higher degrees of freedom, representing wires with starting points, multiple relay points, and end points. Utilizing multi-objective optimization that simultaneously considers feasible end-effector force and velocity spaces, we aim to achieve the desired robotic performance.

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© 2024 The Japan Society of Mechanical Engineers
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