Design optimisation method enhances force transmission in tendon-driven grippers, indicating significant improvements in efficiency.
We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different routing elements, accounting for routing point radii and slipping/rolling contacts. We then construct a numerical design optimisation problem to optimise the design parameters, routing point locations, for a given tendon routing topology. We apply the method to the design of an existing tendon-driven gripper. The results show that frictional losses can be reduced by approximately half compared to the baseline design, and that taking into account the routing point radii is indeed of significant influence.
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Feldbrugge et al. (2024) studied this question.
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