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Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction | IEEE Journals & Magazine | IEEE Xplore

Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction


Abstract:

This letter presents derivation and experimental evaluation of extended dynamical model of twisted string actuator (TSA). The proposed model supports more precise estimat...Show More

Abstract:

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 2, April 2020)
Page(s): 3438 - 3443
Date of Publication: 30 January 2020

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