Threaded Tendon Fastening Unit for Adjustable Tension
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Solution Overview
Problem
Existing tendon-driven systems face challenges in reliably fastening tendons to actuators and joints, requiring standardized and adjustable solutions to maintain tension and accommodate varying tendon lengths, as conventional knots are inflexible and difficult to adjust, leading to inadequate dynamics and performance issues.
Innovation Solution
A fastening unit comprising a head with a first opening, a shaft with an external thread, and a channel for accommodating tendons, allowing for adjustable tension and reversible fastening through engagement and disengagement with a counterpart, enabling reliable and user-friendly tendon fixation in tendon-driven systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If knots are used for fastening the tendon to the actuator or joint, then the tendon can be secured, but the fastening cannot be adjusted after fastening and the tendon length is fixed
Solution Approach 1:
The fastening unit employs a threaded shaft that can be rotated to dynamically adjust the clamping position on the tendon, enabling continuous adjustment of tendon tension and length after initial fastening. This transforms the static knot into a dynamic, adjustable fastening mechanism.
Solution Approach 2:
The fastening unit is divided into separable components (head, shaft with external thread, counterpart with internal thread), allowing independent adjustment of the shaft position relative to the tendon while maintaining secure fastening through the threaded engagement mechanism.
2Reliability
If knots are used for fastening the tendon, then the tendon can be secured, but the knot is difficult or impossible to undo and requires severing
Solution Approach 1:
The threaded shaft enables reversible fastening by allowing the shaft to be rotated back and forth, easily loosening and tightening the tendon clamp without damaging the tendon or fastening components, unlike irreversible knots.
Solution Approach 2:
The threaded shaft acts as an intermediary mechanism between the head and counterpart, providing a controlled, reversible connection that can be easily assembled and disassembled through simple rotational motion.
3Ease of manufacture
If conventional fastening methods are used, then tendon attachment can be achieved, but the length of tendons of each actuator cannot be made the same
Solution Approach 1:
The threaded shaft allows continuous adjustment of the clamping position parameter, enabling precise control of tendon length and tension. This facilitates uniform tendon lengths across multiple actuators by allowing each tendon to be individually adjusted to the same specified length.
Solution Approach 2:
The adjustable threaded mechanism provides dynamic control over tendon length, allowing manufacturers to easily set and replicate identical tendon lengths across multiple actuators, achieving uniformity that static knots cannot provide.
4Adaptability or versatility
If springs in series are used for tendon fastening, then some flexibility is provided, but severe disadvantages occur
Solution Approach 1:
The fastening unit merges the functions of tension adjustment, secure clamping, and length control into a single integrated threaded shaft mechanism, eliminating the need for separate springs or multiple adjustment components that would increase complexity.
Solution Approach 2:
The threaded shaft performs multiple functions simultaneously: it provides adjustable tension control, secure mechanical clamping of the tendon, and precise length adjustment, replacing the need for separate springs and adjustment mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides a cost-effective, long-lasting, and compact fastening mechanism that allows for simple and reliable adjustment of tendon tension and length, enhancing the dynamics and performance of tendon-driven systems by enabling reversible and flexible tendon attachment.
Implementation Method 1
a shaft (13) having at least one second opening (14) and at least one external thread (15)... a counterpart (17) having at least one internal thread (18) for fastening the tendon (20) to the unit (30), in which counterpart the shaft (13) can engage
Data Source
AI summary
Various embodiments include a fastening unit for fastening a tendon to a system. The fastening unit comprises: a head with a first opening; a shaft with a second opening and an external thread; and a channel extending from the first opening along the head to the second opening at least partly along the shaft. The external thread and the channel in each case accommodate the tendon.