Twisted String Actuation Systems: A Study of the Mathematical Model and a Comparison of Twisted Strings

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This paper presents an improved mathematical model of a twisted string transmission system. The proposed mathematical model has been validated experimentally and provided a better match with the practical data in comparison with the conventional model. Translational transmission systems based on twisted strings coupled with electric motors can compose light-weight, compact, and mechanically simple actuators that can be used in various robotic applications. An extensive experimental study on the performance of different types of strings during twisting is presented. The drawbacks and advantages of each type of strings, along with some of their properties, are discussed.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2014-08
Language
English
Article Type
Article
Citation

IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.19, no.4, pp.1331 - 1342

ISSN
1083-4435
DOI
10.1109/TMECH.2013.2280964
URI
http://hdl.handle.net/10203/264210
Appears in Collection
CE-Journal Papers(저널논문)
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