Details
| Original language | English |
|---|---|
| Title of host publication | 3rd Symposium on Automated Systems and Technologies |
| Place of Publication | Garbsen, Germany |
| Publication status | Published - 2016 |
Abstract
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
3rd Symposium on Automated Systems and Technologies. Garbsen, Germany, 2016.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Dynamics of an Electromagnetic Tilting Actuator in a Hyper-Redundant Serial Chain
AU - Tappe, Svenja
AU - Dörbaum, M.
AU - Kotlarski, J.
AU - Ortmaier, T.
AU - Ponick, B.
PY - 2016
Y1 - 2016
N2 - A hyper-redundant serial chain concept based on bistable, electromagnetic tilting actuators for use in future endoscopic applications was proposed earlier. The dynamics modelling and the simulation of the tilting behaviour is essential due to different reasons: As the system is not equipped with any sensors, necessary power-on durations for driving the electromagnetic actuators from one tilting position to the other must be predicted. These durations can be calculated through the dynamics model with respect to acting forces and inertia. Additional-ly, power-on durations can be used to prohibit unintended opening of other actuators in the serial chain. Therefore, this paper focuses on the validity of the dynamic model of one actuator within the manipulator, through detailed measurements of its tilting behaviour with regard to different power-on durations.
AB - A hyper-redundant serial chain concept based on bistable, electromagnetic tilting actuators for use in future endoscopic applications was proposed earlier. The dynamics modelling and the simulation of the tilting behaviour is essential due to different reasons: As the system is not equipped with any sensors, necessary power-on durations for driving the electromagnetic actuators from one tilting position to the other must be predicted. These durations can be calculated through the dynamics model with respect to acting forces and inertia. Additional-ly, power-on durations can be used to prohibit unintended opening of other actuators in the serial chain. Therefore, this paper focuses on the validity of the dynamic model of one actuator within the manipulator, through detailed measurements of its tilting behaviour with regard to different power-on durations.
M3 - Conference contribution
BT - 3rd Symposium on Automated Systems and Technologies
CY - Garbsen, Germany
ER -