Twisting Wire Actuator

Prof. Moshe Shoham

Oded Salomon

Twist vs. Length

MRL Technion

Experimental system and Linearity

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Theoretical vs. experimental results

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Displacement slope

The displacement slope can be determined by the diameter and length of the twisted wires, given by D2/L

MRL Technion

2-6 DOF system

The shown 2 DOF system, can be easily constructed as 6 DOF.

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This actuation was known to achieve:

• High pulling forces

• Small displacements

• High speed

• Low inertia

• Large workspace

We have shown that this type of actuation can introduce:

• Sub-micron displacement

• Linearity

• High positional accuracy

Actuation characteristics

MRL Technion

These characteristics are achieved without the use of gears, sliders, or high precision lead screws, thus contributes to:

• Simplicity

• No friction

• No stick-slip effects