Design and evolution of a triad twisted string actuator for controlling a two degrees of freedom joint: improving performance and simulating active transmission adjustment

0.11°, and no string failures occurred within load limits. The performance of the mechanism was further characterised with additional experiments for increased follower load and angular velocity. A novel method to adjust the transmission ratio during operation (active transmission adjustment) was proposed and simulated, and its advantages over existing mechanisms for a snake robot in a multi-segment configuration were theoretically evaluated.