Studies on positioning manipulators actuated by solid media transmissions

Haoran Zhao; Xin Liu; Rahul Korpu; Michael J. Heffernan; Aaron T. Becker; Nikolaos V. Tsekos

doi:10.1109/ICRA.2019.8794356

Studies on positioning manipulators actuated by solid media transmissions

Haoran Zhao, Xin Liu, Rahul Korpu, Michael J. Heffernan, Aaron T. Becker, Nikolaos V. Tsekos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of ±0.05 mm for the tested transmission lines with lengths up to 4m.

Original language	English (US)
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1226-1232
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8794356
State	Published - May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: May 20 2019 → May 24 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2019-May
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	5/20/19 → 5/24/19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1109/ICRA.2019.8794356

Cite this

Zhao, H., Liu, X., Korpu, R., Heffernan, M. J., Becker, A. T., & Tsekos, N. V. (2019). Studies on positioning manipulators actuated by solid media transmissions. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1226-1232). Article 8794356 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794356

Studies on positioning manipulators actuated by solid media transmissions. / Zhao, Haoran; Liu, Xin; Korpu, Rahul et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1226-1232 8794356 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhao, H, Liu, X, Korpu, R, Heffernan, MJ, Becker, AT & Tsekos, NV 2019, Studies on positioning manipulators actuated by solid media transmissions. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794356, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 1226-1232, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8794356

Zhao H, Liu X, Korpu R, Heffernan MJ, Becker AT, Tsekos NV. Studies on positioning manipulators actuated by solid media transmissions. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1226-1232. 8794356. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8794356

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abstract = "Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of ±0.05 mm for the tested transmission lines with lengths up to 4m.",

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AB - Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of ±0.05 mm for the tested transmission lines with lengths up to 4m.

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Studies on positioning manipulators actuated by solid media transmissions

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