Control of and experimentation on an active dual-mode twisted string actuation mechanism

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In this paper, we present the control of and experimentation on an active dual-mode twisted string actuation mechanism for automatic transmission. This mechanism has a two-stage transmission ratio and is implemented by changing the twisted radius of the string in each mode (force mode or speed mode). Control algorithms for implementing different transmission ratios are proposed and experimentally verified. Moreover, this mechanism was able to change its compliance characteristics depending on the mode and it was also experimentally confirmed by impulse testing. Since this is a compact and simple transmission mechanism, it can be simply applied to small robotic system and provide a wide operating range and variable compliance.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Issue Date
2017-07
Language
English
Citation

IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.987 - 992

ISSN
2159-6255
DOI
10.1109/AIM.2017.8014147
URI
http://hdl.handle.net/10203/238001
Appears in Collection
ME-Conference Papers(학술회의논문)
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