Title | ||
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Accurate Dynamic Modeling Of Twisted String Actuators Accounting For String Compliance And Friction |
Abstract | ||
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This letter presents derivation and experimental evaluation of extended dynamical model of twisted string actuator (TSA). The proposed model supports more precise estimation of required motor torque for both low-speed and high-speed (up to 2 Hz) motion by considering effects of elastic deformation of strings and frictional forces. Analysis of the experimental data demonstrated that the relative error between theoretical and practical curves never exceeded 7 % for the whole range of tested motion frequencies, the accuracy that is impossible to achieve with state-of-art mathematical models. The proposed dynamical model can be used for accurate model-based control of the TSA-based systems and for efficient TSA motor selection. |
Year | DOI | Venue |
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2020 | 10.1109/LRA.2020.2970651 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | DocType | Volume |
Tendon/wire mechanism, dynamics, compliant joint/mechanism | Journal | 5 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Simeon Nedelchev | 1 | 0 | 1.35 |
Igor Gaponov | 2 | 15 | 6.69 |
Jee-Hwan Ryu | 3 | 617 | 66.11 |