Experimental characterization of Bowden cable friction and compliance

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dc.contributor.advisorDeshpande, Ashish D.en
dc.contributor.committeeMemberSentis, Luisen
dc.creatorChen, Dongyangen
dc.date.accessioned2015-10-26T19:29:46Zen
dc.date.accessioned2018-01-22T22:28:38Z
dc.date.available2015-10-26T19:29:46Zen
dc.date.available2018-01-22T22:28:38Z
dc.date.issued2014-08en
dc.date.submittedAugust 2014en
dc.date.updated2015-10-26T19:29:46Zen
dc.descriptiontexten
dc.description.abstractThis thesis presents a systematic method for experimental characterization of Bowden cable friction and compliance. A novel tension and elongation measurement method using a motion capture system and a spring is introduced. With the measurement method, the effects of nine variables on friction and cable compliance are investigated through a comprehensive set of experiments under 144 different cases. We have generated specific guidelines for Bowden cable configurations and design parameters to achieve optimal performance which may help robotics researchers in choosing and configuring Bowden cables, and designing control systems for actuation.en
dc.description.departmentMechanical Engineeringen
dc.format.mimetypeapplication/pdfen
dc.identifierdoi:10.15781/T2QK73en
dc.identifier.urihttp://hdl.handle.net/2152/31966en
dc.language.isoenen
dc.subjectBowden cableen
dc.subjectFrictionen
dc.subjectComplianceen
dc.titleExperimental characterization of Bowden cable friction and complianceen
dc.typeThesisen

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