TY - GEN
T1 - Two missing components for Solid Media Transmission
T2 - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
AU - Huang, Li
AU - Liu, Xin
AU - Tsekos, Nikolaos V.
AU - Becker, Aaron T.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/14
Y1 - 2016/11/14
N2 - Solid Media Transmission (SMT) is a new technology for transmitting robot actuation. SMT is similar to pneumatic or hydraulic transmissions, but uses solid balls and spacers rather than fluids to transmit force and displacement. SMT has been developed recently as a promising solution for specialized robot applications, including the challenges of confined space and strong magnetic field in Magnetic Resonance (MRI) scanners. Until now, SMT has lacked two capabilities compared to hydraulic and pneumatic devices: (1) manifolds, which can balance force among multiple inputs, and (2) amplifiers, which enable displacement scaling by trading force for displacement resolution. This paper introduces an SMT implementation for each of these missing components, provides scalable designs, parametric optimizations, hardware verifications, and ends with suggestions for future work.
AB - Solid Media Transmission (SMT) is a new technology for transmitting robot actuation. SMT is similar to pneumatic or hydraulic transmissions, but uses solid balls and spacers rather than fluids to transmit force and displacement. SMT has been developed recently as a promising solution for specialized robot applications, including the challenges of confined space and strong magnetic field in Magnetic Resonance (MRI) scanners. Until now, SMT has lacked two capabilities compared to hydraulic and pneumatic devices: (1) manifolds, which can balance force among multiple inputs, and (2) amplifiers, which enable displacement scaling by trading force for displacement resolution. This paper introduces an SMT implementation for each of these missing components, provides scalable designs, parametric optimizations, hardware verifications, and ends with suggestions for future work.
UR - http://www.scopus.com/inward/record.url?scp=85000899969&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85000899969&partnerID=8YFLogxK
U2 - 10.1109/COASE.2016.7743382
DO - 10.1109/COASE.2016.7743382
M3 - Conference contribution
AN - SCOPUS:85000899969
T3 - IEEE International Conference on Automation Science and Engineering
SP - 207
EP - 212
BT - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 21 August 2016 through 24 August 2016
ER -