Development and verification of tendon-driven rotary actuator for haptics with flexible actuators and a PE line

Yusuke Suzuki, Hiroaki Kuwahara, Hiroyuki Tanaka, Kouhei Ohnishi

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

14 Citations (Scopus)

Abstract

In the future, robots will be important device widely in our daily lives to achieve complicated tasks. To achieve the tasks, there are some demands for the robots. In this paper, two strong demands of them are taken attention. First one is multipledegrees of freedom (DOF), and the second one is miniaturization of the robots. Although rotary actuators is necessary to get multiple-DOF, miniaturization is difficult with rotary motors which are usually utilized for multiple-DOF robots. Here, tendondriven rotary actuator is a candidate to solve the problems of the rotary actuators. The authors proposed a type of tendon-driven rotary actuator using thrust wires. However, big mechanical loss and frictional loss occurred because of the complicated structure of connection points. As the solution for the problems, this paper proposes a tendon-driven rotary actuator for haptics with thrust wires and polyethylene (PE) line. In the proposed rotary actuator, a PE line is used in order to connect the tip points of thrust wires and the end effector. The validity of the proposed rotary actuator is evaluated by experiments.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages484-489
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

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

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