Twisted String Actuation Systems: Applications, Modelling, and Control

Twisted String Actuation Systems: Applications, Modelling, and Control is the first work dedicated entirely to the emerging area of twisted string actuation. This book provides the reader with the basics of modelling and control of this novel type of actuator, as well as outlines potential advantages of this actuation technique. It also contains several case studies describing in detail the requirements and design parameters of the TSAs developed for different robotic applications. It also provides guidelines for engineers on the design and implementation of TSA in new areas and applications, discussing how to select the strings with appropriate properties and suitable material, how to model the actuators, and how to predict their efficiency and lifetime. The book will benefit the engineering community and increase the popularity of this promising novel type of actuator as it brings together the most up-to-date technologies and advances in the TSA field, as well as their background and history. Summarizes the state-of-the-art research in the area of twisted string actuatorsProvides the reader with the basics of modelling and control over actuators of this type, as well as outlines potential advantages of this actuation techniquePresents several case studies describing in detail the requirements and design parameters of the TSAs developed for various engineering applications, ranging from precise object positioning to heavy-duty manipulationIncludes MATLAB code files for modeling different aspects of the TSAs INDICE: 1. Foreword2. Twisted String Actuators: History and Background3. Mathematical Modelling of TSA3.1. Conventional Kinematostatic Model3.2. Improved Kinematics3.3. Torque Modeling3.4. Lifetime of the Strings4. Control of TSA4.1. Feedback Control4.2. Tension Control of Antagonistically Placed TSAs4.3. Variable Stiffness Joint Control4.4. Advanced Control Strategies5. Design Guide 5.1. Operation Requirements 5.2. String Selection5.3. TSA Verification6. Conclusion and Future ResearchCase Study I: Precision Manipulation SystemCase Study II: Upper-body ExoskeletonCase Study III: Lower-body ExoskeletonCase Study IV: Heavy Duty Manipulation System

• ISBN: 978-0-12-814195-3
• Editorial: Butterworth-Heinemann
• Encuadernacion: Rústica
• Páginas: 300
• Fecha Publicación: 01/11/2019
• Nº Volúmenes: 1
• Idioma: Inglés