Twisted String Actuation Systems Applications, Modelling, and Control
Auteurs : Igor Gaponov, Ryu Jee-Hwan, Nedelchev Simeon
Twisted String Actuation Systems: Applications, Modelling, and Control is the first work dedicated entirely to the emerging area of twisted string actuation. This book provides the reader with the basics of modelling and control of this novel type of actuator, as well as outlines potential advantages of this actuation technique. It also contains several case studies describing in detail the requirements and design parameters of the TSAs developed for different robotic applications. It also provides guidelines for engineers on the design and implementation of TSA in new areas and applications, discussing how to select the strings with appropriate properties and suitable material, how to model the actuators, and how to predict their efficiency and lifetime.
The book will benefit the engineering community and increase the popularity of this promising novel type of actuator as it brings together the most up-to-date technologies and advances in the TSA field, as well as their background and history.
- Summarizes the state-of-the-art research in the area of twisted string actuators
- Provides the reader with the basics of modelling and control over actuators of this type, as well as outlines potential advantages of this actuation technique
- Presents several case studies describing in detail the requirements and design parameters of the TSAs developed for various engineering applications, ranging from precise object positioning to heavy-duty manipulation
- Includes MATLAB code files for modeling different aspects of the TSAs
2. Twisted String Actuators: History and Background
3. Mathematical Modelling of TSA
3.1. Conventional Kinematostatic Model
3.2. Improved Kinematics
3.3. Torque Modeling
3.4. Lifetime of the Strings
4. Control of TSA
4.1. Feedback Control
4.2. Tension Control of Antagonistically Placed TSAs
4.3. Variable Stiffness Joint Control
4.4. Advanced Control Strategies
5. Design Guide
5.1. Operation Requirements
5.2. String Selection
5.3. TSA Verification
6. Conclusion and Future Research
Case Study I: Precision Manipulation System
Case Study II: Upper-body Exoskeleton
Case Study III: Lower-body Exoskeleton
Case Study IV: Heavy Duty Manipulation System
Researchers at universities, graduate students and companies working in the areas related to robotics, bio engineering, mechanical engineering, actuation, and automation.
Jee-Hwan Ryu received his BS degree in Mechanical Engineering from Inha University, Rep. of South Korea in 1995, and his MS and PhD degrees in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Taejon, Korea, in 1995 and 2002, respectively. He is currently a Professor at the Department of Mechanical Engineering, Korea University of Technology and Education. His research interests include haptics, telerobotics and teleoperation, exoskeletons, and flexible manipulators.
Simeon Nedelchev is at Korea University of Technology and Education, Republic of Korea
Date de parution : 06-2020
Ouvrage de 300 p.
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