TY - GEN
T1 - Analysis of force transmission ability by variation of thrust wire posture
AU - Ogawa, Kenji
AU - Kozuki, Ryohei
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/AMC.2014.6823316
DO - 10.1109/AMC.2014.6823316
M3 - Conference contribution
AN - SCOPUS:84903131005
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 404
EP - 409
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -