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

doi:10.1109/AMC.2006.1631679

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 conference › Paper › peer-review

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 language	English
Pages	329-333
Number of pages	5
DOIs	https://doi.org/10.1109/AMC.2006.1631679
Publication status	Published - 2006
Event	9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey Duration: 2006 Mar 27 → 2006 Mar 29

Other

Other	9th IEEE International Workshop on Advanced Motion Control, 2006
Country/Territory	Turkey
City	Istanbul
Period	06/3/27 → 06/3/29

ASJC Scopus subject areas

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

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10.1109/AMC.2006.1631679

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title = "Free allocation of actuator against end-effector by using flexible actuator",

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.",

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year = "2006",

doi = "10.1109/AMC.2006.1631679",

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AU - Tsuji, Koichiro

AU - Soeda, Yujiro

AU - Nagatomi, Hiroyuki

AU - Kitajima, Masaki

AU - Morikawa, Yasuhide

AU - Ozawa, Soji

AU - Furukawa, Toshiharu

AU - Kawai, Toshikazu

AU - Kouhei, Ohnishi

PY - 2006

Y1 - 2006

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AB - 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.

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

Abstract

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