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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
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Erstellt am: 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
S.3254-3259
International Conference on Robotics and Automation (ICRA) <2010, Anchorage/Alas.>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
QuadHelix; DoHelix; artificial technical muscle; rope kinematic; technischer Muskel; tendon robot; Seilantrieb; Aktuator; Antrieb; Kinematik; Roboter

Abstract
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.

: http://publica.fraunhofer.de/dokumente/N-141690.html