Stochastic static analysis of link driven by actuator bundles

— This paper describes a stochastic static analysis of link angle driven by actuator bundles. We first demonstrate a movement of a link driven by actuator bundles in terms of high driving force. The variation of actuator parameters influences the movement of this mechanism. We confirm the link may shift and twist because of the variation of actuator parameters. We then introduce stochastic analysis to investigate the link angle considering the variation of actuator parameters. In the result, the variation of the link angle converges to zero when the number of actuator is large enough. In addition, we reinforce the result through dynamic simulation considering the variation of the parameters of actuators.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Takahiro Yoshimura, Mizuho Shibata, Shinichi Hirai
• Keywords: Actuator, Actuator Bundles, Actuator Parameters, IROS 2009, Robotics