String Tensioner and Shock Absorber for Robot Tendons (Series Elastic Actuator)
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Adjustable tensioning for a string with elasticity for Series Elastic Actuators for small scale robots
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- Printables
- Kategoria
- RC & Robotics
- Licencja
- Creative Commons — Attribution — Noncommercial — NoDerivatives
This is a string tensioner for robotic tendons with adjustable elasticity for series elastic actuators that I made for my projects. On the other end of the string there needs to be a string pulling actuator like a reel or a simple lever. Just attach it to the arm of a servo or wind it up with a motor. The spring acts like an excellent shock absorber to protect the actuator.
By turning the screw you pull on the tendon and compress the spring to adjust the tension while maintaining elasticity.
For assembly you'll need a M2 Screw 10-20mm long, a flat M2 Nut and a piece of spring according to your desired base elasticity. For testing purposes or soft elasticities I found ballpoint pen springs perfect. If you want to protect your tendon from abrasion I'd recomment to insert a small piece of PTFE tubing (Bowden tube) into the tendon guide like seen in the photo. There is a 2.5mm hole at the bottom through which you can thread a M3 headless grub screw (4mm max) to hold the PTFE tubing in place.
As string material I recommend fishing line.