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Twisting String Actuation with Noncircular Wrapping Rods

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Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR 2020)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 83))

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Abstract

Twisting wire transmission mechanisms combined with electrical motors are attractive actuation systems in many applications including wearable devices due to their small volume, lightness, and compatibility with demanding environmental constraints. In this paper, the model for twisting string actuation commonly found in the literature is modified to consider the case when the wrapping rod it relies upon is of variable diameter. This addition allows for the motion speed of the device to be increased when desired. This mathematical model of the new system is detailed in the paper and provides numerical simulations subsequently validated with experimental results for many different cases. The impact on the important characteristics of the transmission of the design parameters are shown in details and the simulations highlight several improvements of the proposed design compared to existing twisting wire systems.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Polytechnique Montréal, Montréal, QC, H3T 1J4, Canada

    Nicolas Mouazé, Thanh Nguyen & Lionel Birglen

Authors
  1. Nicolas Mouazé
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  2. Thanh Nguyen
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  3. Lionel Birglen
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Corresponding author

Correspondence to Nicolas Mouazé .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, South Dakota School of Mines and Technology, Rapid City, SD, USA

    Pierre Larochelle

  2. University of California, Irvine, Irvine, CA, USA

    J. Michael McCarthy

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Mouazé, N., Nguyen, T., Birglen, L. (2020). Twisting String Actuation with Noncircular Wrapping Rods. In: Larochelle, P., McCarthy, J. (eds) Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics. USCToMM MSR 2020. Mechanisms and Machine Science, vol 83. Springer, Cham. https://doi.org/10.1007/978-3-030-43929-3_12

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