Preliminary Study of Twisted String Actuation Through a Conduit Toward Soft and Wearable Actuation
Автор: Bhivraj Suthar
Загружено: 2018-05-26
Просмотров: 274
Описание:
Twisted string actuators (TSAs) are gaining popularity
in modern engineering and robotic applications. However,
in conventional actuators of this type, the twisted part of the
string should not be in contact with any surfaces or objects
because this may interfere with the propagation of twisting. This
imposes significant constraint on potential applications of TSAs.
In this paper, we investigated the feasibility of using TSAs inside
conduit and demonstrated that the twists of the string can be
fully propagated through the sheath and that consistent periodic
behavior of the twisted string can be achieved. In addition,
we investigated input-output position and force characteristics
of TSAs for various deflection angles of the conduit, effect
of lubrication on transmission efficiency, and compared it
with conventional cable sliding transmission. We found that
TSA has higher transmission efficiency than sliding due to
decreased friction between the string and conduit, which is
further improved by lubrication. We have managed to achieve
85% of force transmission efficiency for the case of lubricated
twisting, as opposed to the 71.74% for lubricated sliding.
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