This paper deals with the kinematic synthesis of a planar tendon-driven robotic arm to remove skins by wine fermentation tanks, with three d.o.f.s and thus, one time redundant. This redundancy is required in order to obtain a deployable mechanism in the form of robotic arm, which shows a wide workspace, but occupies a small volume when fully flexed. The type and dimensional kinematic synthesis of the proposed robotic arm is developed through a serial combination of endless tendon-driven kinematic chains, which joints are remotely actuated. The synthesis methodology is first applied to a Cardan mechanism, a parallel motion generator, a robotic finger, and then, to the synthesis of the proposed robotic arm with the aim to satisfy the design specifications.
Kinematic Synthesis of a Tendon-Driven Robotic Arm / Figliolini, G.; Lanni, C.; Di Donato, L.; Melloni, R.; Bacchetta, A. P.. - 91:(2021), pp. 386-393. [10.1007/978-3-030-55807-9_44]