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

舛屋 賢, 小野 秀, 高木 賢太郎, 田原 健二

研究成果: ジャーナルへの寄稿記事

抄録

<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>
元の言語Japanese
ページ(範囲)2A1-A02
ジャーナルロボティクス・メカトロニクス講演会講演概要集
2017
発行部数0
DOI
出版物ステータス出版済み - 2017

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Actuators
Polymers
Controllers
Fibers
Experiments

これを引用

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. / 舛屋賢; 小野秀; 高木賢太郎; 田原健二.

:: ロボティクス・メカトロニクス講演会講演概要集, 巻 2017, 番号 0, 2017, p. 2A1-A02.

研究成果: ジャーナルへの寄稿記事

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abstract = "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.",
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