Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators

Hiroki Kubota, Kenji Tahara

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

Abstract

A prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators (DEAs) is developed, and two-types force controllers are proposed to make it control its tensile force with overcoming two representative drawbacks of DEAs. One of two drawbacks of DEAs is a narrow dynamic range of an output force. To cope with this drawback, a force controller that can change the number of activated actuators according to a desired tensile force is proposed. This controller makes it possible to expand the range of output force according to the number of the activated actuators. The other drawback is a short durability, especially breakdown easily occurs when the maximum voltage is steadily inputted. To overcome this drawback, another force controller that can drive the module by activating the only one of several elastomer actuators alternatively depending on time in order for an activating time of the actuator to be short is proposed. This controller makes it possible to reduce the activating time of one actuator with maintaining a desired total output force of the module. First, a prototype of the proposed module is developed, and next, the effectiveness of the proposed two-types force controllers is demonstrated through experiments using the prototype.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages539-544
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - Aug 30 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: Jul 9 2018Jul 12 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period7/9/187/12/18

Fingerprint

Elastomers
Actuators
Controllers
Durability
Electric potential

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Kubota, H., & Tahara, K. (2018). Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 539-544). [8452275] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452275

Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators. / Kubota, Hiroki; Tahara, Kenji.

AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. p. 539-544 8452275 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July).

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

Kubota, H & Tahara, K 2018, Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators. in AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. vol. 2018-July, 8452275, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2018-July, Institute of Electrical and Electronics Engineers Inc., pp. 539-544, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 7/9/18. https://doi.org/10.1109/AIM.2018.8452275
Kubota H, Tahara K. Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July. Institute of Electrical and Electronics Engineers Inc. 2018. p. 539-544. 8452275. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2018.8452275
Kubota, Hiroki ; Tahara, Kenji. / Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators. AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. pp. 539-544 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
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