Lee, Geunho (Yeungnam University), Choi, Jungsu (Yeungnam University)

Novel Wire-Driven Actuation System without Winding Mechanism

Scheduled for presentation during the Regular Session "Systems Design and Integration" (WeCT3), Wednesday, July 16, 2025, 18:10−18:30, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Wire-driven systems have advantages in high flexibility, high payload to weight ratio, and high force transfer efficiency. As for wire-driven actuators, a common method involves winding the wire around a cylindrical pulley to transmit force. However, this method can cause slip due to the tension of wire during the winding process, and the wire may deviate from its designated path. Such slip and path deviation lead to wire entanglement on the pulley. In this paper, to address the issue of wire tangling in wire-driven systems, a novel wire actuator design without winding is proposed. By utilizing static friction to transmit force to the wire and designing the path of wire with Guide Pulleys, the force loss was minimized. Additionally, to respond uncertainties in slip, three point of action where the torque of Driving Pulley is transferred to the wire was designed. This arrangement compensates for any force loss due to kinetic friction occurring at specific action points.