The exploration and inspection of narrow spaces in industrial plants require the use of long-reach redundant manipulators with large three-dimensional (3D) workspaces. To this end, in a previous work, a coupled tendon-driven articulated manipulator with a total length of 10 m and yaw joints for 3D motion was developed. This study focuses on employing the antagonistic tension in a yaw joint to support a tendon that drives a pitch joint with high gravitational loading. Herein, a tension control method that employs the antagonistic tension to reduces the amount of tension required to support the weight of an arm is proposed. The effectiveness of the proposed method is evaluated based on the workspace volume of the previously developed Super Dragon, and the results demonstrate that the proposed method expands the workspace by up to 45%.

中文翻译：

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利用对抗张力扩大耦合肌腱驱动关节机械手工作空间的张力控制方法

工业厂房狭窄空间的探索和检查需要使用具有大型三维 (3D) 工作空间的长距离冗余机械手。为此，在之前的工作中，开发了一种总长度为 10 m 的耦合肌腱驱动关节机械手和用于 3D 运动的偏航关节。这项研究的重点是利用偏航关节中的对抗张力来支撑以高重力载荷驱动俯仰关节的肌腱。在此，提出了一种张力控制方法，该方法采用对抗张力来减少支撑手臂重量所需的张力量。基于先前开发的超级龙的工作空间体积评估了该方法的有效性，结果表明该方法将工作空间扩展了高达 45%。