Gray-box modeling and control of torsional fishing-line artificial muscle actuators

Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Masatoshi Shioya, Takuma Yamauchi, Eitaro Tanaka, Kinji Asaka, Kentaro Takagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper focuses on the torsional motion of a torsional type fishing-line artificial muscle actuator, so to speak, Twisted Polymer Fiber (TPF) actuator. TPFs are expected as limited rotation motors or limited angle motors for mechatronic applications. Aiming to construct a gray-box model for TPF actuators, this paper derives the first-order transfer function as the model from the applied electrical power to the generated torque of an actuator. The relation from the temperature to the generated torsional torque is simply assumed as a linear function of which coefficient is the torsional rigidity. In the experiment, the validity of the obtained model is evaluated, and then the blocked torque of the TPF actuator is controlled.

Original languageEnglish
Title of host publicationElectroactive Polymer Actuators and Devices (EAPAD) XX
EditorsYoseph Bar-Cohen
PublisherSPIE
Volume10594
ISBN (Electronic)9781510616844
DOIs
Publication statusPublished - Jan 1 2018
EventElectroactive Polymer Actuators and Devices (EAPAD) XX 2018 - Denver, United States
Duration: Mar 5 2018Mar 8 2018

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume10594
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Conference

ConferenceElectroactive Polymer Actuators and Devices (EAPAD) XX 2018
CountryUnited States
CityDenver
Period3/5/183/8/18

Fingerprint

fishing
Artificial muscle
muscles
Muscle
boxes
Actuator
Actuators
actuators
Line
Torque
torque
Polymers
Modeling
Fiber
fibers
Fibers
polymers
Mechatronics
rigidity
Rigidity

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Oiwa, C., Masuya, K., Tahara, K., Irisawa, T., Shioya, M., Yamauchi, T., ... Takagi, K. (2018). Gray-box modeling and control of torsional fishing-line artificial muscle actuators. In Y. Bar-Cohen (Ed.), Electroactive Polymer Actuators and Devices (EAPAD) XX (Vol. 10594). [1059428] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 10594). SPIE. https://doi.org/10.1117/12.2295899

Gray-box modeling and control of torsional fishing-line artificial muscle actuators. / Oiwa, Chihaya; Masuya, Ken; Tahara, Kenji; Irisawa, Toshihira; Shioya, Masatoshi; Yamauchi, Takuma; Tanaka, Eitaro; Asaka, Kinji; Takagi, Kentaro.

Electroactive Polymer Actuators and Devices (EAPAD) XX. ed. / Yoseph Bar-Cohen. Vol. 10594 SPIE, 2018. 1059428 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 10594).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Oiwa, C, Masuya, K, Tahara, K, Irisawa, T, Shioya, M, Yamauchi, T, Tanaka, E, Asaka, K & Takagi, K 2018, Gray-box modeling and control of torsional fishing-line artificial muscle actuators. in Y Bar-Cohen (ed.), Electroactive Polymer Actuators and Devices (EAPAD) XX. vol. 10594, 1059428, Proceedings of SPIE - The International Society for Optical Engineering, vol. 10594, SPIE, Electroactive Polymer Actuators and Devices (EAPAD) XX 2018, Denver, United States, 3/5/18. https://doi.org/10.1117/12.2295899
Oiwa C, Masuya K, Tahara K, Irisawa T, Shioya M, Yamauchi T et al. Gray-box modeling and control of torsional fishing-line artificial muscle actuators. In Bar-Cohen Y, editor, Electroactive Polymer Actuators and Devices (EAPAD) XX. Vol. 10594. SPIE. 2018. 1059428. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.2295899
Oiwa, Chihaya ; Masuya, Ken ; Tahara, Kenji ; Irisawa, Toshihira ; Shioya, Masatoshi ; Yamauchi, Takuma ; Tanaka, Eitaro ; Asaka, Kinji ; Takagi, Kentaro. / Gray-box modeling and control of torsional fishing-line artificial muscle actuators. Electroactive Polymer Actuators and Devices (EAPAD) XX. editor / Yoseph Bar-Cohen. Vol. 10594 SPIE, 2018. (Proceedings of SPIE - The International Society for Optical Engineering).
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