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: Contribution to conferencePaper

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
Pages329-333
Number of pages5
DOIs
Publication statusPublished - 2006 Nov 21
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

ASJC Scopus subject areas

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

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  • Cite this

    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. 329-333. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631679