Title :
Free allocation of actuator against end-effector by using flexible actuator
Author :
Tsuji, Koichiro ; Soeda, Yujiro ; Nagatomi, Hiroyuki ; Kitajima, Masaki ; Morikawa, Yasuhide ; Ozawa, Soji ; Furukawa, Toshiharu ; Kawai, Toshikazu ; Kouhei, Ohnishi
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Kanagawa
Abstract :
A new actuator system, flexible actuator (FA) is proposed in this paper. FA consists of direct drive motor and thrust wire. Thrust wire is composed of polyethylene tube and stainless-steel stranded wire. The stainless-steel stranded wire moves back and forth in the tube, and force is transmitted from actuator to end-effector. Since thrust wire has flexibility with high performance of force transferability, the physical relationship between actuator and end-effector can be decided freely. Furthermore, since this actuator has low friction, reproduction of force sensation is conducted accurately. FA is one of the fundamental device for evolution of robotics. The experimental results show the validity of the proposed mechanism
Keywords :
end effectors; flexible manipulators; direct drive motor; end-effector; flexible actuator; force transferability; free allocation; polyethylene tube; stainless-steel stranded wire; thrust wire; Actuators; Design engineering; Fingers; Humans; Laboratories; Master-slave; Mechanical engineering; Robot sensing systems; Systems engineering and theory; Wire;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631679
