An Experimental Validation of flexible actuator with torque wire for Haptic Motion

Tatsuya Kobayashi, Yujiro Soeda, Shoyo Hyodo, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor. Then flexible actuator can be used with bilateral control. With bilateral control, it can transmit force sensation from the end-effector contacting enviroment to operators. In this paper, a torque wire for transmission of rotation and torque is developed, and the characteristics of position/torque transmission are validated. Steady-state error is caused between the motor input and the end-effector response. The error is due to elastic torque of the torque wire as well as frictional torque between an inner wire and an outer tube. The end-effector response corresponds to the motor input Then, availability of the torque wire is confirmed.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ595-600
ページ数6
DOI
出版ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

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

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