A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation
Damian Crosby,Joaquin Carrasco,William Heath,Andrew Weightman,Damian Crosby,Joaquin Carrasco,William Heath,Andrew Weightman
Actuated universal joints, or equivalent joint systems, are found in a number of robotic applications, in particular mobile snake robots, continuum robots and robotic tails. These joints have two degrees of freedom on two axes, each perpendicular to a third axis and to themselves. Such joints use a variety of actuation methods, including direct drive motors, linear screw drives, cable based system...
