In this paper, an ongoing work for verifying the behavior of a twisted string actuator in contact with a sliding surface or guided through a sheath is presented. After the presentation of the basic properties of the twisted string actuation system, the model of the twisted string in contact with a sliding surface is discussed. The behavior of the system has been then experimentally verified and discussed. A preliminary evaluation of control strategies for compensating the side effects generated by the contact of the twisted string with the sliding surface is also presented.

Palli, G., Hosseini, M., Melchiorri, C. (2016). Experimental Evaluation of Guided Twisted Actuation. Elsevier B.V. [10.1016/j.ifacol.2016.10.584].

Experimental Evaluation of Guided Twisted Actuation

PALLI, GIANLUCA;HOSSEINI, MOHSSEN;MELCHIORRI, CLAUDIO
2016

Abstract

In this paper, an ongoing work for verifying the behavior of a twisted string actuator in contact with a sliding surface or guided through a sheath is presented. After the presentation of the basic properties of the twisted string actuation system, the model of the twisted string in contact with a sliding surface is discussed. The behavior of the system has been then experimentally verified and discussed. A preliminary evaluation of control strategies for compensating the side effects generated by the contact of the twisted string with the sliding surface is also presented.
2016
IFAC-PapersOnLine
380
385
Palli, G., Hosseini, M., Melchiorri, C. (2016). Experimental Evaluation of Guided Twisted Actuation. Elsevier B.V. [10.1016/j.ifacol.2016.10.584].
Palli, G.; Hosseini, M.; Melchiorri, C.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/572444
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