Twisted String Actuator mechanism with adjustable offset of strings for continuous variable transmission system

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Mechatronics Pub Date : 2024-07-26 DOI:10.1016/j.mechatronics.2024.103227

Dongcheol Shin , Brian Byunghyun Kang , Wansoo Kim

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Abstract

This paper presents a novel TSA mechanism with an adjustable offset between strings, which enables a variable transmission system. TSA is designed to be used in a variety of applications, including exoskeletons, and robotics. The fixed contraction range of TSAs limits their ability to provide comprehensive support. The proposed mechanism overcomes this limitation by adjusting the offset between strings. The mechanism consists of six parts with two motors. Each motor in the mechanism operates to adjust offset with only one motor and operates simultaneously to twist the strings. This enables the contraction range of TSA to be varied a wide range. Furthermore, an analytical model is also introduced for controlling the contraction range of TSA. In the experiment, the proposed mechanism shows the contraction range of TSA to be increased by up to 20%. Additionally, it showed that it is possible to vary the maximum force of TSA by up to 47%. Moreover, the analytical model has a low error. These findings suggest the promising potential for the developed TSA mechanism in a variety of applications.

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用于无级变速系统的可调节弦偏移的扭绳传动机构

本文介绍了一种新型 TSA 机构，该机构的弦间偏移量可调，从而实现了可变传动系统。TSA 设计用于各种应用，包括外骨骼和机器人。TSA 的固定收缩范围限制了其提供全面支持的能力。所提出的机构通过调整弦之间的偏移克服了这一限制。该机构由六个部分和两个电机组成。该机构中的每个电机仅用一个电机调节偏移量，并同时扭转琴弦。这使得 TSA 的收缩范围可在很大范围内变化。此外，还介绍了控制 TSA 收缩范围的分析模型。在实验中，所提出的机制显示 TSA 的收缩范围最多可增加 20%。此外，实验还表明，TSA 的最大作用力最多可改变 47%。此外，分析模型的误差很小。这些研究结果表明，所开发的 TSA 机制在各种应用中具有广阔的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.