Modeling, Development and Control of Linear Twisted-String Actuator

摘要

For the scientific community worldwide, developing a new actuator is a challenging task.New types of actuators are needed, especially in humanoid robotics in order to replace real human muscle.There are several approaches for how to obtain this goal.One approach is to realize real muscle using new synthetic materials such as piezoelectric components or pneumatic polymer materials.A second approach is to improve standard electromotor-gear actuators.Another unconventional approach is to use standard electromotor together with a tendon-based driving system.This paper presents a successful realization and control model for a proposed twisted-string actuator.Controller design is based on the National Instruments Single Board RIO driving a MAXON motor type tendon driven muscle.A Powerful Spartan FPGA is a key element for the presented hardware implementation.To program the whole system, LabVIEW software is used.Theoretically explained simulation results for adopted model design, as well as real measured experimental movement under the load force, are presented in the paper.