Kinematics, Dynamics, and Control of Tendon-Driven Mechanisms Using Signal Flow Graphs

1998 ◽  
Author(s):  
Meng-Sang Chew ◽  
Theeraphong Wongratanaphisan
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Closed Loop ◽  
Transfer Functions ◽  
Signal Flow ◽  
Signal Flow Graphs ◽  
Loop Transfer Function ◽  
Dynamics And Control ◽  
Flow Graphs ◽  
And Control

Abstract This paper presents the analysis of the kinematics, dynamics and controls of tendon-driven mechanism under the framework of signal flow graphs. For decades, the signal flow graphs have been applied in many areas, particularly in controls, for determining the closed-loop transfer function of a control system. The tendon-driven mechanism considered here consists of several subsystems including actuator-controller dynamics, mechanism kinematics and mechanism dynamics. Each subsystem will be derived and represented by signal flow graphs. The representation of the whole system can be carried out by connecting the graphs of subsystems at the corresponding nodes. Transfer functions can then be obtained by using Mason’s rules. A 3-DOF robot finger utilizing tendon-driven mechanism is used as an illustrative example.

Kinematic Analysis of Tendon Driven Mechanisms Using Signal Flow Graphs

1995 ◽  
Author(s):  
M. Chew ◽  
J. Escobedo-Torres ◽  
R. Huerta-Ochoa
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Closed Loop ◽  
Direct Solution ◽  
Loop Function ◽  
Signal Flow ◽  
Signal Flow Graphs ◽  
The Many ◽  
Flow Graphs ◽  
And Control

Abstract The application of signal flow graphs has been applied to the kinematic analysis of tendon driven mechanisms. Signal flow graphs have been used in the many areas particularly in the area of control for determining the closed-loop function of a control system. An application of this approach brings the kinematic analysis of tendon driven mechanisms a step towards dynamic analysis and control of these same mechanisms, all within the same framework. Rules directly relating to the application of this technique to tendon driven mechanisms have been developed along with a stepwise description of the construction of signal flow graphs. The resulting graphs permit a direct solution to the kinematic relationships between the output and the input to the mechanism.

Dynamics and Control of Instrumented Harmonic Drives

1995 ◽  
Vol 117 (1) ◽  
pp. 15-19 ◽  
Author(s):  
H. Kazerooni
Keyword(s):  
Transfer Function ◽  
Closed Loop ◽  
Research Work ◽  
High Ratio ◽  
Output Shaft ◽  
Harmonic Drive ◽  
Dynamics And Control ◽  
Radial Forces ◽  
And Control ◽  
Stationary Component

Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers [3, 4, 6]. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method’s limitations.

Signal Flow Graphs for Getting Transfer Functions of Active Filters

2008 ◽  
Vol 6 (7) ◽  
pp. 592-597
Author(s):  
J.A. Esquivel ◽  
F.L. De Luna ◽  
F. Morales ◽  
J.M. Esquivel
Keyword(s):  
Transfer Functions ◽  
Active Filters ◽  
Signal Flow ◽  
Signal Flow Graphs ◽  
Flow Graphs

Direct Application of the Loop Rule to Bond Graphs

1972 ◽  
Vol 94 (3) ◽  
pp. 253-261 ◽  
Author(s):  
F. T. Brown
Keyword(s):  
Transfer Function ◽  
Direct Reduction ◽  
Direct Application ◽  
Constant Parameter ◽  
Signal Flow Graph ◽  
Bond Graphs ◽  
Flow Graph ◽  
Signal Flow ◽  
Signal Flow Graphs ◽  
Flow Graphs

The Shannon-Mason loop rule permits direct reduction of a linear constant-parameter signal flow graph to a transfer function. Signal flow graphs can be constructed from bond graphs or sets of equations. Application of the loop rule to the parent bond graphs, however, with the aid of certain rules, is shown to be quicker and less prone to error. Also, four invariant classes of bond graph meshes are distinguished, with implications in physical analogies and in computation.

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