通过绞盘调节传动比，提升扭线驱动器的行程与出力。
A Novel Twisted-Winching String Actuator for Robotic Applications: Design and Validation
- 用可调传动比的绞盘系统解决扭线驱动器行程短问题。
- 实验显示可实现宽范围传动比与精准运动控制。
- 适合对轻量化和灵活驱动有需求的机器人应用。
本文提出一种将扭线驱动器（TSA）与绞盘机制结合的新式执行器系统。相较于传统液压和气动系统，TSA虽具结构紧凑、重量轻的优点，但存在行程短、力传递比受限的问题。本系统通过动态调整传动比，克服上述局限：利用绞盘增加行程，通过扭转提升输出力。设计采用旋转塔架集成绞盘，由贯穿轴驱动的锥齿轮组带动。建立了系统位移与速度的联合控制数学模型。实验验证了该系统可实现宽范围传动比及精确运动控制，并提供了运动精度与生成力的性能数据，结果在现有文献背景下进行了讨论。本研究为先进机器人应用和自动化解决方案中的多样化、高效执行器发展提供了支持。
原文摘要 · Abstract (English)
This paper presents a novel actuator system combining a twisted string actuator (TSA) with a winch mechanism. Relative to traditional hydraulic and pneumatic systems in robotics, TSAs are compact and lightweight but face limitations in stroke length and force-transmission ratios. Our integrated TSA-winch system overcomes these constraints by providing variable transmission ratios through dynamic adjustment. It increases actuator stroke by winching instead of overtwisting, and it improves force output by twisting. The design features a rotating turret that houses a winch, which is mounted on a bevel gear assembly driven by a through-hole drive shaft. Mathematical models are developed for the combined displacement and velocity control of this system. Experimental validation demonstrates the actuator's ability to achieve a wide range of transmission ratios and precise movement control. We present performance data on movement precision and generated forces, discussing the results in the context of existing literature. This research contributes to the development of more versatile and efficient actuation systems for advanced robotic applications and improved automation solutions.
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