줄 꼬임 구동기의 가변 반지름 모델과 강성 모델에 대한 실험적 검증
Experimental Verification of Variable Radius Model and Stiffness Model for Twisted String Actuators (TSAs)
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초록
Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.
Abstract
Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.
참고문헌 (5)
- G. Palli, "The DEXMART hand : Mechatronic design and experimental evaluation of synergy-based control for human-like grasping", The International Journal of Robotics Research, 33(5), pp.799~824 (2014)
- T. Sonoda, "Multi-fingered robotic hand employing strings transmission named ‘Twist Drive’", 2010 IEEE, 2010, 2733~2738
- T. Wurtz, "The twisted string actuation system : Modeling and control", 2010 IEEE, 2010, 1215~1220
- I. Gaponov, "Twisted string actuation systems : A study of the mathematical model and a comparison of twisted strings", IEEE, 2014, pp.19(4), 1331~1342
- I. Godler, "Modeling and Evaluation of a Twist Drive Actuator for Soft Robotics", Advanced Robotics, 26(7), pp.765~783 (2012)