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The QuadHelix-Drive - An improved rope actuator for robotic applications

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2 Author(s)
Arne Rost ; Fraunhofer IPA robot systems department, Nobelstraße 12, 70569 Stuttgart, Germany ; Alexander Verl

For the constantly growing service robotic market there is a demand for new energy-efficient and economically priced actuation-concepts. This paper describes the QuadHelix-Drive, a novel rope actuator of high power density with a simple working principle. It highlights the technical challenges, which evolved while examining the DoHelix-Muscle-Concept. A strategy to overcome these challenges and a prototypic mechanical realization of this new actuator concept are illustrated. The integration of the QuadHelix-Drive into the Fraunhofer IPA testing facility is described and at the end possible robotic application scenarios are outlined.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010