An Investigation of Methods for Actuating Robot Arms: Direct vs. Pulley vs. Bowden Cable Actuation Methods

Authors

Dallin Swiss, Brigham Young University
Dr. Mark Colton, Brigham Young University

Keywords

robot arms, direct method, pulley method, Bowden Cable actuation methods

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

Abstract

A group of BYU researchers and therapists designed a robot named “Troy” for use in studies to investigate robot-assisted therapy for children with autism [1]. Troy was considered effective and successful but studies suggest that developing a new robot with greater realism and additional capabilities may promote greater clinical benefits [2]. The next robot must be safer and enable physical interaction between the robot and child. This can be done by controlling the weight, speed and flexibility of the robot arms. In particular, reducing their weight would reduce the inertial forces put on the child when interacting with the robot

Recommended Citation

Swiss, Dallin and Colton, Dr. Mark (2014) "An Investigation of Methods for Actuating Robot Arms: Direct vs. Pulley vs. Bowden Cable Actuation Methods," Journal of Undergraduate Research: Vol. 2014: Iss. 1, Article 109.
Available at: https://scholarsarchive.byu.edu/jur/vol2014/iss1/109