釣糸人工筋肉の束を利用したアクチュエータユニットの開発

Translated title of the contribution: Development of Actuator Unit consisting of Multiple Twisted and Coiled Polymer Actuators

舛屋 賢, 小野 秀, 高木 賢太郎, 田原 健二

Research output: Contribution to journalArticle

Abstract

<p>An actuator unit consisting of multiple twisted and coiled polymer actuators (TCPA) with the feedforward controller is proposed. TCPA is made by two methods: 1) overtwisting the fiber and 2) winding the twisted fiber around the mandrel. The former output the larger force than the latter, while the former shows the smaller stroke. In order to realize the coexistence of large stroke and large output force, we combine multiple TCPAs fabricated by the latter method. The performance of the actuator unit is investigated through the experiment. Additionally, it is verified that the feedforward controller based on the authors' nonlinear displacement model can reduce the offset error compared with that based on the linear model.</p>
Translated title of the contributionDevelopment of Actuator Unit consisting of Multiple Twisted and Coiled Polymer Actuators
Original languageJapanese
Pages (from-to)2A1-A02
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2017
Issue number0
DOIs
Publication statusPublished - 2017

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