We present a tendon routing optimisation method for reducing the static friction experienced in a tendon-driven mechanism. Tendon-driven mechanisms enable the designer to have the actuator placed away from the actuated joint, where the tendons give the opportunity for a slim design. One of the drawbacks of a tendon-driven mechanism is a relatively poor force transmission efficiency between the actuator and the joint(s) due to frictional effects.
To optimise the force transmission efficiency we will develop a static friction model of a tendon-driven mechanism. We then propose, with the developed model, a design optimisation method to reduce static frictional effects. A variety of tests demonstrate the performance and the viability of this optimisation applied to the tendon routing of an existing tendon-driven gripper.