Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

The QuadHelix-drive - an improved rope actuator for robotic applications

: Rost, Arne; Verl, Alexander

Postprint urn:nbn:de:0011-n-1416906 (620 KByte PDF)
MD5 Fingerprint: d23273b46d7a9bd4250baff3c329840d
© 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Created on: 8.10.2010

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Robotics and Automation, ICRA 2010. Vol.5 : Anchorage, Alaska, USA, 3 - 8 May 2010
Piscataway, NJ: IEEE, 2010
ISBN: 978-1-4244-5038-1
ISBN: 978-1-4244-5040-4
International Conference on Robotics and Automation (ICRA) <2010, Anchorage/Alas.>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
QuadHelix; DoHelix; artificial technical muscle; rope kinematic; technischer Muskel; tendon robot; Seilantrieb; Aktuator; Antrieb; Kinematik; Roboter

For the constantly growing service robotic market there is a demand for new energy-efficient and economically priced actuation-concepts. This paper describes the QuadHelix-Drive, a novel rope actuator of high power density with a simple working principle. It highlights the technical challenges, which evolved while examining the DoHelix-MuscIe-Concept. A strategy to overcome these challenges and a prototypic mechanical realization of this new actuator concept are iIIustrated. The integration of the QuadHelix-Drive into the Fraunhofer IPA testing facility is described and at the end possible robotic application scenarios are outIined.