Abstract
Bowden cables and Twisted sting actuators (TSAs) are frequently used in various modern engineering and research applications. Both actuators allow to put load away from the actuator and routing along the system also. In a TSA, the string attached to the motor shortens as a result of twisting and causes the other end to move towards the motor. Conventional TSAs require the twisted part of the string to not be in contact with any obstacles that may interfere with the twisting process, which imposes a constraint on possible applications of the actuators of this type. This paper investigated the twisting propagation inside the PTFE tube under various bending cases from 0 to 180 degree bending and effect on friction by rotational and translation velocity. we also investigated the twisting and untwisting phenomenon inside PTFE tube. Finally we compared with pulling cable system and twisting cable system.
Keywords: Sliding, conduit, twisting, hysteresis, Lubrication.
Introduction
Test bed and experimental scenario
(a) Test bed and its descriptions
(b) Background of bowden cable system
(c) Background of twisting of string
Proposed model
Torque and Drag Model
Effect of combined axial motion and rotational motion
How pitch is changing with bending angle of tube
Results
(a)
(b)
Conclusions
Future work