A TENDON-DRIVEN SERVO SYSTEM CONTROL FOR TRANSMISSION MECHANISMS

The implementation of controllers for transmission mechanisms based on tendons movement principle has become an important case of study in recent years. Using this controller, a desired behavior over the movement of the variables (degrees of freedom), both rotational and translational can be obtained [1, 2]. It's possible to achieve desired trajectories at the end of normally open kinematic chains, demonstrating the ability to execute robotic tasks that emulate human behaviors such as the hand grip and the fingers movement, in order to meet the design objectives [3, 4]. As a consequence of the above, in this work the mathematical models of four mechanisms with type N or N + 1 transmissions are obtained, which are the basis for the design of a servo system controller that enable the desired behavior over the system's single degree of freedom, represented by four state variables.