Studies on Positioning Manipulators Actuated by Solid Media Transmissions
Haoran Zhao, Xin Liu, Rahul Korpu, Michael J. Heffernan, Aaron T. Becker, Nikolaos V. Tsekos
Abstract
Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of ±0.05 mm for the tested transmission lines with lengths up to 4m.
BibTeX
@inproceedings{icra2019_studiesonpositio,
title = {Studies on Positioning Manipulators Actuated by Solid Media Transmissions},
author = {Haoran Zhao and Xin Liu and Rahul Korpu and Michael J. Heffernan and Aaron T. Becker and Nikolaos V. Tsekos},
booktitle = {ICRA 2019},
year = {2019}
}