1P1-B04 Characteristic Analysis of Belt-Formed Pulley For Tendon-Driven Robot

We proposed a novel nonlinear spring device, that is a belt-formed pulley. Inserting the beltformed pulleys into the route of wires, we can easily actualize a flexible tendon-driven robots. The system using belt-formed pulleys has many advantage such as low cost, low friction, light and so on, compared with other tendon-driven robot. However, little is known about frictional property of belt-formed pulleys. In this paper, we propose the method of measuring static friction, and the friction characteristic of the belt-formed pulley is shown through experimental result.