A study on twisted string actuation systems: Mathematical model and its experimental evaluation

Author

Popov, Dmitry ; Gaponov, Igor ; Ryu, Jee-Hwan

Author_Institution

Dept. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

1245

Lastpage

1250

Abstract

This paper presents an improved mathematical model of a single twisted string transmission system. The proposed mathematical model has been validated experimentally and provided a better match with the practical data in comparison to the conventional model. Translational transmission systems based on twisted strings coupled with electrical motors can compose light-weight, compact, and mechanically simple actuators which can be used in various robotic applications. Hands-on instructions on design of twisted string transmission systems presented in this paper are intended to help engineers in development of such actuation systems.

Keywords

electric actuators; electric motors; power transmission (mechanical); robots; compact actuator; electrical motors; experimental evaluation; hands-on instructions; light-weight actuator; mathematical model; robotic application; single twisted string transmission system; translational transmission system; twisted string actuation system; Actuators; DC motors; Data models; Force; Load modeling; Mathematical model; Robots; Joint/Mechanism; New Actuators for Robotics; Tendon/Wire Mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6385781

Filename

6385781