A New Linear Actuator for Robotics

Abstract

We describe the design and control of a novel contraction ac tuator that operates by generating tensions in a filament. The mechanical working principle is based on the deflection of a filament that provides both a reduction in its length (contrac tion) and amplification of the deflecting force within a specified range of operation. Two actuator prototypes are designed for analysis, fabrication, and test. Considerations regarding friction, inertia, and flexibility are discussed, and the control strategy for the prototypes' configuration is introduced. The design presented here has a wide range of engineering appli cations in many diverse areas, such as precise position control (e.g., for valves and instruments), control of all sorts of mech anisms (including robotic devices), and as an alternative drive mechanism in microelectromechanical devices.