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

研究成果: Paper

38 引用 (Scopus)

抜粋

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.

元の言語English
ページ329-333
ページ数5
DOI
出版物ステータスPublished - 2006
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3 272006 3 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
Turkey
Istanbul
期間06/3/2706/3/29

ASJC Scopus subject areas

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

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  • これを引用

    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. 論文発表場所 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631679