Quantitative and Qualitative Evaluation of a Novel Remote Actuation System versus Traditional Designs
Date
2022-09-15
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Abstract
Remote actuation systems (RAS) are used in robot design to relocate actuators away from
joints. Several such RAS have been investigated by researchers, including pneumatic and hydraulic cylinders, cable-pulley systems, and flexible Bowden cables. However, testing of these
systems is often not comparative and is focused on specific metrics without consideration
of overall robot performance. The purpose of this research is to compare the performance
of a novel RAS called the Fluid-cable transmission (FCT) with traditional RAS consisting
of push-pull cables and conventional hydraulic and pneumatic cylinders. The static friction
and stiffness of these RAS are compared for a range of bend angles, fluids, and operating
pressures. We also perform qualitative testing by developing a hand controller and robot
linked by an RAS. The interface is designed so that the RAS is interchangeable, allowing
direct comparison of different RAS designs. A human operator uses the interface to complete
a task, and the relative accuracy and subjective experience is compared for the RAS tested.
The FCT is found to have lower static friction than all other tested RAS, higher stiffness
than pneumatic cylinders, and comparable task performance to all tested RAS. Unique characteristics of the FCT, limitations of the testing system, and recommendations for future
work are discussed.
Description
Keywords
actuator, comparative testing
Citation
Irwin, A. (2022). Quantitative and qualitative evaluation of a novel remote actuation system versus traditional designs (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.