DC Field | Value | Language |
---|---|---|
dc.contributor.author | Nedelchev, Simeon | ko |
dc.contributor.author | Gaponov, Igor | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2020-04-17T08:20:08Z | - |
dc.date.available | 2020-04-17T08:20:08Z | - |
dc.date.created | 2020-04-14 | - |
dc.date.created | 2020-04-14 | - |
dc.date.created | 2020-04-14 | - |
dc.date.created | 2020-04-14 | - |
dc.date.created | 2020-04-14 | - |
dc.date.issued | 2020-04 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.2, pp.3438 - 3443 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/273927 | - |
dc.description.abstract | This letter presents derivation and experimental evaluation of extended dynamical model of twisted string actuator (TSA). The proposed model supports more precise estimation of required motor torque for both low-speed and high-speed (up to 2 & x00A0;Hz) motion by considering effects of elastic deformation of strings and frictional forces. Analysis of the experimental data demonstrated that the relative error between theoretical and practical curves never exceeded 7 & x0025; for the whole range of tested motion frequencies, the accuracy that is impossible to achieve with state-of-art mathematical models. The proposed dynamical model can be used for accurate model-based control of the TSA-based systems and for efficient TSA motor selection. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction | - |
dc.type | Article | - |
dc.identifier.wosid | 000520954200027 | - |
dc.identifier.scopusid | 2-s2.0-85081725528 | - |
dc.type.rims | ART | - |
dc.citation.volume | 5 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 3438 | - |
dc.citation.endingpage | 3443 | - |
dc.citation.publicationname | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.identifier.doi | 10.1109/LRA.2020.2970651 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Nedelchev, Simeon | - |
dc.contributor.nonIdAuthor | Gaponov, Igor | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Tendon/wire mechanism | - |
dc.subject.keywordAuthor | dynamics | - |
dc.subject.keywordAuthor | compliant joint/mechanism | - |
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