Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.

 Abstract  1. 서 론  2. 확장 그래프 표현과 텐던 연결 토폴로지 행렬   2.1 텐던구동 시스템을 위한 확장 그래프 표현법   2.2 텐던 연결 토폴로지 행렬   2.3 구동기 수에 따른 구조  3. 확장 그래프를 이용한 텐던 머니퓰레이터 해석   3.1 DLR hand   3.2 Whole Arm Manipulator (WAM)   3.3 다빈치 로봇수술 기구  4. 결 론  References

• 김두형( 한국기계연구원 책임연구원) | 김두형
• 정주노( 고려대학교 제어계측공학과 부교수) | 정주노
• 조영수(고려대학교 제어계측공학과 박사과정) | Cho, Youngsu