The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Effect of Vibration on Twisted String Actuation Inside Conduit at High Curvature Angles

높은 곡률 각을 가지는 도관 내부의 줄 꼬임 구동에 대한 진동 효과

  • Received : 2019.06.15
  • Accepted : 2019.07.23
  • Published : 2019.08.30
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Abstract

This paper studies an effect of vibration on twisted string actuation inside conduit at high curvature angles. In our previous work. we have mentioned that twisted string actuators can be used to transmit power even at significant curvature angles of the conduit. However, several undesirable effects, namely pull-back, hysteresis, and chattering, were present during actuation due to friction between strings and the internal sheath of the conduit. This paper reports the results of experimental study on effects of vibration on twisted string actuation inside curved conduits. We have demonstrated that applying vibration generated near natural frequency of the system during the stages of twisting and untwisting cycles helped reduce pull-back and hysteresis and increase string contraction. In case when sheath was deflected by $180^{\circ}$ under a constant load of 3 kg, we were able to achieve over 40% decrease in pull-back and 30% decrease in hysteresis, compared with no vibration case.

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References

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