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Twisted String Actuation Systems: Applications, Modelling, and Control

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Notă GoodReads:
en Limba Engleză Carte Paperback – June 2020
Twisted String Actuation Systems: Applications, Modelling, and Control discusses the emerging area of twisted string actuation. It provides the basics of modeling and control, while also outlining the potential advantages of this actuation technique. Several detailed case studies describe the requirements and design parameters of the TSAs developed for different robotic applications. In addition, the book covers guidelines for engineers on the design and implementation of TSA in new areas and applications, discussing how to select strings with appropriate properties and suitable material, how to model actuators, and how to predict 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, along with their background and history.


  • Summarizes the state-of-the-art research in the area of twisted string actuators
  • Provides the reader with the basics of modeling and control over actuators of this type, also outlining the potential advantages of this actuation technique
  • Presents 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 manipulation
  • Includes MATLAB code files for modeling different aspects of the TSAs
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Specificații

ISBN-13: 9780128141953
ISBN-10: 0128141956
Pagini: 300
Dimensiuni: 152 x 229 mm
Editura: ELSEVIER SCIENCE

Public țintă

Researchers at universities, graduate students and companies working in the areas related to robotics, bio engineering, mechanical engineering, actuation, and automation.

Cuprins

1. Foreword
2. Twisted String Actuators: History and Background
3. Mathematical Modelling of TSA
3.1. Conventional Kinematostatic Model
3.2. Improved Kinematics
3.3. Torque Modeling
3.4. Lifetime of the Strings
4. Control of TSA
4.1. Feedback Control
4.2. Tension Control of Antagonistically Placed TSAs
4.3. Variable Stiffness Joint Control
4.4. Advanced Control Strategies
5. Design Guide
5.1. Operation Requirements
5.2. String Selection
5.3. TSA Verification
6. Conclusion and Future Research
Case Study I: Precision Manipulation System
Case Study II: Upper-body Exoskeleton
Case Study III: Lower-body Exoskeleton
Case Study IV: Heavy Duty Manipulation System