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Article

Twisting Wire Actuator

[+] Author and Article Information
Moshe Shoham

Robotics Laboratory, Department of Mechanical Engineering,  Technion—Israel Institute of Technology, Haifa 32000, Israel shoham@technion.ac.il

J. Mech. Des 127(3), 441-445 (Jul 07, 2004) (5 pages) doi:10.1115/1.1866156 History: Received October 07, 2003; Revised July 07, 2004

A type of actuation used in ancient times, based on twisting wires, is reinvented in this paper. Twisting wires actuation was used long ago to pull heavy objects, but, to the best of the author’s knowledge, this investigation represents the first demonstration of its ability to achieve submicron motion resolution. Twisting wires actuation achieves this high resolution without the use of gears, sliders, high-precision lead screws, etc., thus simplifying the actuation system and eliminating sources of friction. The investigation further proves that the use of two opposing wires drastically reduces the nonlinearity effect inherent in this type of actuation, thus in effect turning the system into a linear one. Several experiments verify the theoretical results.

FIGURES IN THIS ARTICLE
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Copyright © 2005 by American Society of Mechanical Engineers
Topics: Wire , Actuators
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References

Figures

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Figure 1

Twisted-wire shortening effect

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Figure 2

Free-end displacement versus twist angle for D=0.25mm, L=13mm, and θi=6π

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Figure 3

Two-DOF twisting wire manipulator

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Figure 4

Moving platform displacement of a two opposing wires actuator. Wire shortening on one side and lengthening on the other are due to the same amount and opposite twisting angle

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Figure 5

Displacement slope of a single wire and two opposing wires for different D2∕L values

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Figure 6

Experimental system of a one DOF twisting wire actuator

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Figure 7

Displacement of the moving platform actuated by two opposing twisting wires (D=0.25mm,L=10mm,θi=6π). Circular marks—experimental results; solid curve—theoretical values.

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Figure 8

Eight motors steps result in platform displacement of one block on a 2‐micron grid

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Figure 9

Moving platform displacement of a two opposing twisting wire actuator (D=0.25mm, L=27mm, θi=8π, motor resolution=400 steps∕revolution).

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Figure 10

Repeatability test

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