An experimental validation of flexible actuator with thrust-rotational wire

Kei Mikami; Yusuke Kasahara; Kohei Ohnishi

doi:10.1109/IECON.2009.5415297

An experimental validation of flexible actuator with thrust-rotational wire

Kei Mikami, Yusuke Kasahara, Kohei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, "thrust-rotation wire" which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.

Original language	English
Pages	3053-3058
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415297
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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Cite this

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