Abstract
A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor. Then flexible actuator can be used with bilateral control. With bilateral control, it can transmit force sensation from the end-effector contacting enviroment to operators. In this paper, a torque wire for transmission of rotation and torque is developed, and the characteristics of position/torque transmission are validated. Steady-state error is caused between the motor input and the end-effector response. The error is due to elastic torque of the torque wire as well as frictional torque between an inner wire and an outer tube. The end-effector response corresponds to the motor input Then, availability of the torque wire is confirmed.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 595-600 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy Duration: 2008 Mar 26 → 2008 Mar 28 |
Other
| Other | 10th International Workshop on Advanced Motion Control, AMC'08 |
|---|---|
| Country | Italy |
| City | Trento |
| Period | 08/3/26 → 08/3/28 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
An Experimental Validation of flexible actuator with torque wire for Haptic Motion. / Kobayashi, Tatsuya; Soeda, Yujiro; Hyodo, Shoyo; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 595-600 4516134.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An Experimental Validation of flexible actuator with torque wire for Haptic Motion
AU - Kobayashi, Tatsuya
AU - Soeda, Yujiro
AU - Hyodo, Shoyo
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor. Then flexible actuator can be used with bilateral control. With bilateral control, it can transmit force sensation from the end-effector contacting enviroment to operators. In this paper, a torque wire for transmission of rotation and torque is developed, and the characteristics of position/torque transmission are validated. Steady-state error is caused between the motor input and the end-effector response. The error is due to elastic torque of the torque wire as well as frictional torque between an inner wire and an outer tube. The end-effector response corresponds to the motor input Then, availability of the torque wire is confirmed.
AB - A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor. Then flexible actuator can be used with bilateral control. With bilateral control, it can transmit force sensation from the end-effector contacting enviroment to operators. In this paper, a torque wire for transmission of rotation and torque is developed, and the characteristics of position/torque transmission are validated. Steady-state error is caused between the motor input and the end-effector response. The error is due to elastic torque of the torque wire as well as frictional torque between an inner wire and an outer tube. The end-effector response corresponds to the motor input Then, availability of the torque wire is confirmed.
UR - http://www.scopus.com/inward/record.url?scp=77951062965&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951062965&partnerID=8YFLogxK
U2 - 10.1109/AMC.2008.4516134
DO - 10.1109/AMC.2008.4516134
M3 - Conference contribution
AN - SCOPUS:77951062965
SN - 9781424417032
VL - 1
SP - 595
EP - 600
BT - International Workshop on Advanced Motion Control, AMC
ER -