Design optimization of tendon-driven robots considering tendon wrapping and shortcut

2026-10-07

AI Summary

This study addresses the inherent trade-off between joint torque and arm thickness in robotic manipulators by proposing a multi-objective optimization framework based on the NSGA-II algorithm. Through the co-optimization of tendon routing, pulley configurations, and attachment points, along with the introduction of a strategic shortcut mechanism to extend effective moment arms, the proposed method simultaneously maximizes torque output while minimizing structural thickness. The research reveals non-trivial design patterns that transcend conventional intuition and yields a Pareto-optimal solution set. These findings provide systematic engineering guidance for the design of compact, high-torque robotic arms, demonstrating that counterintuitive mechanical configurations can effectively reconcile competing performance objectives in manipulator design.

Abstract

This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrapping and shortcut effects. We formulate the problem to simultaneously maximize torque and minimize thickness, solved using NSGA-II. The algorithm optimizes tendon routing, pulley configurations, and attachment points. Results reveal Pareto-optimal designs with effective moment arm expansion via strategic shortcuts, providing practical guidelines for compact high-torque arms. The optimized configurations demonstrate non-trivial patterns beyond conventional design intuition, offering new insights for engineering efficient robotic systems.

Problem

• tendon-driven robots
• design optimization
• tendon wrapping
• shortcut effects
• multi-objective optimization

Innovation

• Tendon-driven robots
• Multi-objective optimization
• NSGA-II
• Tendon routing
• Pareto-optimal design