Analysis of force transmission ability by variation of thrust wire posture

Kenji Ogawa, Ryohei Kozuki, Kouhei Ohnishi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ404-409
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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