Host: The Society of Instrument and Control Engineers, Industrial Application Division
Pages 28
Recently, in order to prepare for an aged society, various welfare systems are studied. This study purposes to develop the Tendon-Driven 2-Link Manipulator as the care lift for assisting the rising and sitting of elderly person. The Tendon-Driven 2-Link Manipulator consists of 2 links, 6 pulleys made of acrylic and 4 tendons made of wire, and make use of the Pneumatic Cylinder as an actuator. The Tendon-Driven 2-Link Manipulator is driven by tension force of tendons generated by thrust of the Pneumatic Cylinder. This paper gives the structure, the Tendon-Driven mechanism, the dynamic analysis and the experimental static characteristics of the Tendon-Driven 2-Link Manipulator.
