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Creators/Authors contains: "Heffernan, Michael J."

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  1. ; ; ; ; ; (, EEE International Conference on Robotics and Automation (ICRA 2019, Montreal CA))
    Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs of SMT-actuated one-degree-of-freedom (DoF) and two-degree-of-freedom positioning manipulators, and report experiment studies to assess their performance. In these studies, closed-loop position control was performed with a PI controller and/or master-slave control. With braided PTFE tubing, SMT exhibited sub-millimeter accuracy, with a tolerance of 0:05mm for the tested transmission lines with lengths up to 4m. 
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