Torque analysis of a micro actuating mechanism driving multi degree of freedom via single motor

In our recent research, a micro actuating mechanism has been proposed to drive multi degrees of freedom with a single motor. This module is designed in a compact size which is suitable to implement on other automatic systems where mobility is needed. The magnetic jaw clutches are selected to create the bi-directional rotation of the module. To gain the highest possible torque of the module, this paper presents a controller design to control the operation of the magnetic jaw clutch. The module implementation on a music instrument is also studied. In this work, we use a Thai hammered dulcimer as a reference for the experiment. The highest torque to tune the music instrument is explored and used as the target performance of the module.