Customized Biomimetic Tendon Pullley in Cable-Driven Robots: A Parametric Approach

In cable-driven robotic systems, the design of Biomimetic Tendon Pulleys, which serve as conduits for tendon movement, is crucial for minimizing friction, reducing mechanical wear, and ensuring efficient force transmission. This paper presents a parametric design approach for customizing Biomimetic Tendon Pulleys in robotic applications. By leveraging parametric techniques, the design process is automated, allowing for real-time optimization of key parameters such as Biomimetic pulley curvature, material properties, and geometric configuration. Mathematical modeling using Bezier curves to achieve a smooth transition along the tendon path, significantly reducing frictional losses. The proposed approach is demonstrated through the design of a Biomimetic Tendon Pulley for a biomimetic robotic finger, which leads to the expected improvement in movement resolution and a significant reduction in frictional forces. This study provides a robust framework for developing customized Biomimetic Tendon Pulleys across a wide range of robotic systems, improving overall efficiency, durability, and performance.