A Twist in Turn Makes the Wheel Go 'Round
C. May, T. Martini, M. Nienhaus
Universität des Saarlandes, Saarbrücken, Germany
The twisting of strings is a proven and effective means for transforming low-torque rotary motion into linear motion with high pulling force. While the use of twisted fibres for storing tensile forces is known from ancient machines such as the ballista and the Spanish windlass, modern high-strength fibres are enabling new technical applications characterised by high force and compact construction. Among various applications of twisted string actuation in robotics, the DEXMART Hand demonstrates well the use of twisted strings for transforming the torque from small, low-weight electric motors into high tensile forces for actuating the fingers in the tendondriven
The form of twisted string actuation mentioned above is limited in stroke by the length of the strings and an inherent limit in the degree of twisting that the strands can undergo. In an attempt to overcome this kinematic limit, a novel drive concept was developed in which the twisting of strings achieves continuous rotary motion. This paper describes the operating principle and the behaviour of the resulting twisted string motor. The authors will attempt to indicate the performance potential of this novel motor based on the twisting of strings.
ACTUATOR 2014 Manuscript B5.3
Publication date: 09/04/2015
Manuscript B5.3 published in Conference Proceedings ACTUATOR 2014
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