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

Gaponov I.; Popov D.; Ryu J.-H.

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

机译：扭弦驱动系统：数学模型的研究和扭弦的比较

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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.

机译：本文提出了一种改进的双绞线传输系统的数学模型。与常规模型相比，所提出的数学模型已通过实验验证，并与实际数据更好地匹配。基于双绞线和电动机的平移传动系统可以构成轻巧，紧凑且机械简单的执行器，可用于各种机器人应用。进行了广泛的实验研究，以研究不同类型的弦在扭转过程中的性能。讨论了每种类型的琴弦的缺点和优点，以及它们的一些特性。

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来源
《Mechatronics, IEEE/ASME Transactions on》 |2014年第4期|1331-1342|共12页
作者
Gaponov I.; Popov D.; Ryu J.-H.;
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作者单位

School of Mechanical Engineering , Korea University of Technology and Education, Cheonan, Korea|c|;

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原文格式 PDF
正文语种 eng
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关键词
Joint/mechanism; new actuators for robotics; tendon/wire mechanism;

机译：关节/机构;机器人的新致动器;肌腱/线机制;

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1. Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction [J] . Nedelchev Simeon, Gaponov Igor, Ryu Jee-Hwan IEEE Robotics and Automation Letters . 2020,第2期

机译：准确动态建模的扭曲串执行器占弦综合性和摩擦的核算
2. A compact two-phase twisted string actuation system: Modeling and validation [J] . Tavakoli Mahmoud, Batista Rafael, Neto Pedro Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2016,第Null期

机译：紧凑的两相双绞线致动系统：建模和验证
3. Modeling and Control of the Twisted String Actuation System [J] . Palli G., Natale C., May C., Mechatronics, IEEE/ASME Transactions on . 2013,第2期

机译：扭弦驱动系统的建模与控制
4. A study on twisted string actuation systems: Mathematical model and its experimental evaluation [C] . Popov, Dmitry, Gaponov, Igor, Ryu, Jee-Hwan IEEE/RSJ International Conference on Intelligent Robots and Systems;IROS 2012 . 2012

机译：绞线驱动系统研究：数学模型及其实验评估
5. Studies in non-anticommutative gauge theories, geometric dualities, and twistor strings. [D] . Robles Llana, Daniel. 2005

机译：非反换向量规理论，几何对偶和扭转弦研究。
6. Mathematical Modeling of Yarn Dynamics in a Generalized Twisting System [O] . R. Yin, X. M. Tao, B. G. Xu -1

机译：广义加捻系统中纱线动力学的数学建模
7. A compact two-phase twisted string actuation system: Modeling and validation [O] . Tavakoli, Mahmoud, Batista, Rafael, Neto, Pedro 2016

机译：紧凑的两相扭曲弦驱动系统：建模和验证

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

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