Analysis of force transmission ability by variation of thrust wire posture

Kenji Ogawa, Ryohei Kozuki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Flexible actuator is a kind of actuator which consists of linear motor and thrust wire. Its characteristic is to transmit the force from tip to tip. Therefore, it is possible to design light weight robot without considering the location of actuator. Thanks to this advantage, it is useful for many kinds of robot- teleoperational robot, finger robot, and so on. However, force transmission ability of thrust wire is not constant and can be changed by some factors. In particular, backlash, friction, deflection and posture of thrust wire are main problem points. Conventional researches about backlash and friction have already been conducted and compensation methods have been proposed. However, the influence of thrust wire's posture has not been researched yet. For this reason, the force transmission ability by changing its posture of is analyzed in this paper. In order to analyze, a cantilever model based on material mechanics is applied to thrust wire. The analysis of proposed model is conducted by experiment.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages404-409
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Ogawa, K., Kozuki, R., & Ohnishi, K. (2014). Analysis of force transmission ability by variation of thrust wire posture. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 404-409). [6823316] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823316