Reconfigurable Tendon-Driven Robots: Eliminating Inter-segmental Coupling via Independently Lockable Joints

TL;DR

This paper introduces a reconfigurable tendon-driven robot with lockable joints that eliminate inter-segmental coupling, simplifying control and expanding workspace, demonstrated through modeling, simulation, and prototype experiments.

Contribution

The novel reconfigurable tendon-driven robot with independently lockable joints reduces control complexity and inter-segmental coupling, enhancing maneuverability and workspace without continuous power for joint states.

Findings

Eliminates inter-segmental coupling via lockable joints.

Achieves reconfigurability with fewer actuators.

Validated models and prototype demonstrate effective control and workspace expansion.

Abstract

With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving tendons. While increasing the number of robot segments enhances dexterity and expands the workspace, this structural expansion also introduces intensified inter-segmental coupling. Therefore, achieving precise TDR control requires more complex models and additional motors. This paper presents a reconfigurable tendon-driven robot (RTR) equipped with innovative lockable joints. Each joint's state (locked/free) can be individually controlled through a pair of antagonistic tendons, and its structure eliminates the need for a continuous power supply to maintain the state. Operators can selectively actuate the targeted robot segments, and this scheme fundamentally eliminates the inter-segmental coupling, thereby avoiding the requirement for complex coordinated control between segments. The workspace of RTR has been simulated and compared with traditional TDRs' workspace, and RTR's advantages are further revealed. The kinematics and statics models of the RTR have been derived and validation experiments have been conducted. Demonstrations have been performed using a seven-joint RTR prototype to show its reconfigurability and moving ability in complex environments with an actuator pack comprising only six motors.