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 - 2008/12/1
Y1 - 2008/12/1
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
T3 - International Workshop on Advanced Motion Control, AMC
SP - 595
EP - 600
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -