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New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots

Kirchhoff, Jérôme and Stryk, Oskar von (2017):
New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots.
In: IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, DOI: 10.1109/AIM.2017.8013996,
[Conference or Workshop Item]

Abstract

Selecting transmission components for tendon driven actuation systems can be challenging because of the variety of available solutions. Synthetic fiber ropes have great potential for these systems, but the typically provided characteristics are not always suitable to decide whether a rope should be used in the specific system or not. In this paper, a comparative evaluation of the elongation characteristic regarding different rope materials, manufacturers and temperatures is presented. Further, the influence of guiding pulleys is investigated concerning the application at ultra lightweight tendon driven series elastic robots. The knowledge gained from the performed new rope analysis supports the design process of tendon driven robots. Since tendon elongation influences the control performance and joint torque estimation of the regarded class of robots, a novel observer-based approach for tendon elongation detection is presented and evaluated, which enables to monitor wear for quality assurance and to avoid failures.

Item Type: Conference or Workshop Item
Erschienen: 2017
Creators: Kirchhoff, Jérôme and Stryk, Oskar von
Title: New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots
Language: English
Abstract:

Selecting transmission components for tendon driven actuation systems can be challenging because of the variety of available solutions. Synthetic fiber ropes have great potential for these systems, but the typically provided characteristics are not always suitable to decide whether a rope should be used in the specific system or not. In this paper, a comparative evaluation of the elongation characteristic regarding different rope materials, manufacturers and temperatures is presented. Further, the influence of guiding pulleys is investigated concerning the application at ultra lightweight tendon driven series elastic robots. The knowledge gained from the performed new rope analysis supports the design process of tendon driven robots. Since tendon elongation influences the control performance and joint torque estimation of the regarded class of robots, a novel observer-based approach for tendon elongation detection is presented and evaluated, which enables to monitor wear for quality assurance and to avoid failures.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Event Location: Munich, Germany
Date Deposited: 19 Nov 2018 13:52
DOI: 10.1109/AIM.2017.8013996
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