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.
|Published - 2006
|9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3月 27 → 2006 3月 29
|9th IEEE International Workshop on Advanced Motion Control, 2006
|06/3/27 → 06/3/29
ASJC Scopus subject areas
- コンピュータ サイエンスの応用