The paper deals with a mathematical model of a one degree of freedom robotic manipulator which has two rotary actuators located on the remote base to drive the manipulator via a pair of flexible tendons . With a recursive Newton-Euler approach dynamic equation of the manipulator is derived. Unlike earlier work in this field, the present work deals with tendons nonlinear stiffness and linear damping. Positions of the manipulator and torque requirement have been investigated for certain rotation of the actuators. Effects of various system parameters on the end-effactor position have also been investigated. A PD feedback controller is used for controlling the end-effactor positioning of manipulator.

Barun Pratiher

Department of Mechanical Engineering

IIT Jodhpur

S.K. Dwivedy

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Journal	Proceedings of the 12th National Conference on Machines and Mechanisms, NaCoMM 2005
Publisher	National Conference on Machines and Mechanisms, NaCoMM 2005