Free allocation of actuator against end-effector by using flexible actuator

Koichiro Tsuji, Yujiro Soeda, Hiroyuki Nagatomi, Masaki Kitajima, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa, Toshikazu Kawai, Ohnishi Kouhei

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

38 Citations (Scopus)

Abstract

A new actuator system, Flexible Actuator (FA) is proposed in this paper. FA consists of direct drive motor and thrust wire. Thrust wire is composed of polyethylene tube and stainless-steel stranded wire. The stainless-steel stranded wire moves back and forth in the tube, and force is transmitted from actuator to end-effector. Since thrust wire has flexibility with high performance of force transferability, the physical relationship between actuator and end-effector can be decided freely. Furthermore, since this actuator has low friction, reproduction of force sensation is conducted accurately. FA is one of the fundamental device for evolution of robotics. The experimental results show the validity of the proposed mehanism.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages329-333
Number of pages5
Volume2006
DOIs
Publication statusPublished - 2006
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

End effectors
Actuators
Wire
Stainless steel
Polyethylenes
Robotics
Friction

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tsuji, K., Soeda, Y., Nagatomi, H., Kitajima, M., Morikawa, Y., Ozawa, S., ... Kouhei, O. (2006). Free allocation of actuator against end-effector by using flexible actuator. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 329-333). [1631679] https://doi.org/10.1109/AMC.2006.1631679

Free allocation of actuator against end-effector by using flexible actuator. / Tsuji, Koichiro; Soeda, Yujiro; Nagatomi, Hiroyuki; Kitajima, Masaki; Morikawa, Yasuhide; Ozawa, Soji; Furukawa, Toshiharu; Kawai, Toshikazu; Kouhei, Ohnishi.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 329-333 1631679.

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

Tsuji, K, Soeda, Y, Nagatomi, H, Kitajima, M, Morikawa, Y, Ozawa, S, Furukawa, T, Kawai, T & Kouhei, O 2006, Free allocation of actuator against end-effector by using flexible actuator. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631679, pp. 329-333, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631679
Tsuji K, Soeda Y, Nagatomi H, Kitajima M, Morikawa Y, Ozawa S et al. Free allocation of actuator against end-effector by using flexible actuator. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 329-333. 1631679 https://doi.org/10.1109/AMC.2006.1631679
Tsuji, Koichiro ; Soeda, Yujiro ; Nagatomi, Hiroyuki ; Kitajima, Masaki ; Morikawa, Yasuhide ; Ozawa, Soji ; Furukawa, Toshiharu ; Kawai, Toshikazu ; Kouhei, Ohnishi. / Free allocation of actuator against end-effector by using flexible actuator. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 329-333
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