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.
Experimental Evaluation of Guided Twisted Actuation / Palli, G.; Hosseini, M.; Melchiorri, C.. - STAMPA. - 49:21(2016), pp. 380-385. (Intervento presentato al convegno 7th IFAC Symposium on Mechatronic Systems MECHATRONICS 2016 tenutosi a Loughborough University, Leicestershire, UK nel 5—8 September 2016) [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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
