Dianchun Bai

Design of a 2 Motor 2 Degrees-of-Freedom Coupled Tendon-driven Joint Module

A 2 motor 2 degrees-of-freedom (2M2D) coupled tendon driven joint module is proposed as a basic component for robot arms. Torque reallocation via tendon coupling can enhance the output torque of one single joint. According to the motor position, the joint module is classified into four types: the ex…