Mechanical Engineering News
Atsushi TAKATA (Suzumori Endo lab, master's course 2nd) received the IEEE Robotics and Automation Society Japan Joint Chapter Young Award (21st - 25th May 2018, Brisbane, Australia) in IEEE International Conference on Robotics and Automation (ICRA), which is one of the most prestigious conference in robotics and automation research field.
His paper was included in IEEE Robotics and Automation Letters, and he presented it at this conference.
His paper focuses on modeling synthetic fiber ropes, and the frequency response of a long-distance cable-pulley system for a tendon-driven robot. He shows that a synthetic fiber rope can be modeled by Flory's model, and that it can be reduced to a conventional four-element model with sufficient preloading. After empirically acquiring the parameters of the four-element model, each frequency response of a long-distance cable-pulley servo system was measured and compared to the analytical results. Consequently, he shows that synthetic fiber ropes achieved comparable bandwidth to that of the stainless wire rope. This modeling contributes to establish a control algorithm for a long-reach super-redundant cable-driven manipulator.
Modeling of Synthetic Fiber Ropes and Frequency Response of Long-distance Cable-Pulley System