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

All Science Journal Classification (ASJC) codes

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

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