DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shubhranil Sengupta | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2022-12-03T07:00:10Z | - |
dc.date.available | 2022-12-03T07:00:10Z | - |
dc.date.created | 2022-11-29 | - |
dc.date.issued | 2022-06-23 | - |
dc.identifier.citation | 2022 Institute of Control, Robotics and Systems(ICROS 2022), pp.489 - 490 | - |
dc.identifier.uri | http://hdl.handle.net/10203/301541 | - |
dc.description.abstract | Twisted String Actuator (TSA) is gradually gaining popularity in robotic applications due to its high power-to-weight ratio, transmission efficiency and flexibility. When a small torque is applied at the ends of a string, it creates twists in the string which result in length contraction. This contraction, in turn, generates translation forces and can be used for actuation, and this is the working principle of a TSA. However, TSA exhibits a highly non-linear behavior due to friction between the strings, the surrounding conduit, and especially over high-curvature surfaces where the twists cannot propagate effectively. This leads to undesired effects like pull-back and chattering that affects TSA’s performance. In this short paper, we briefly present the initial experimental results of the effects of passing TSA through low-friction rotational bearing over a curved route. We analyze the twist propagation behavior compared to conventional PTFE conduit. | - |
dc.language | English | - |
dc.publisher | 제어 로봇 시스템학회 | - |
dc.title | Preliminary Study of the Effect of Bearings on Twisted String Actuation Over a Curved Surface | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 489 | - |
dc.citation.endingpage | 490 | - |
dc.citation.publicationname | 2022 Institute of Control, Robotics and Systems(ICROS 2022) | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | 거제 소노캄 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
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