Quantitative and Qualitative Evaluation of a Novel Remote Actuation System versus Traditional Designs

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dc.contributor.advisorGoldsmith, Peter
dc.contributor.advisorBrennan, Robert
dc.contributor.authorIrwin, Alexander
dc.contributor.committeememberXue, Deyi
dc.contributor.committeememberShrive, Nigel
dc.contributor.committeememberGoldsmith, Peter
dc.contributor.committeememberBrennan, Robert
dc.date2022-11
dc.date.accessioned2022-09-26T20:07:56Z
dc.date.available2022-09-26T20:07:56Z
dc.date.issued2022-09-15
dc.description.abstractRemote 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.en_US
dc.identifier.citationIrwin, 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.en_US
dc.identifier.urihttp://hdl.handle.net/1880/115281
dc.identifier.urihttps://dx.doi.org/10.11575/PRISM/40287
dc.language.isoengen_US
dc.publisher.facultySchulich School of Engineeringen_US
dc.publisher.institutionUniversity of Calgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.en_US
dc.subjectactuatoren_US
dc.subjectcomparative testingen_US
dc.subject.classificationEngineering--Mechanicalen_US
dc.subject.classificationRoboticsen_US
dc.titleQuantitative and Qualitative Evaluation of a Novel Remote Actuation System versus Traditional Designsen_US
dc.typemaster thesisen_US
thesis.degree.disciplineEngineering – Mechanical & Manufacturingen_US
thesis.degree.grantorUniversity of Calgaryen_US
thesis.degree.nameMaster of Science (MSc)en_US
ucalgary.item.requestcopytrueen_US
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