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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルElectroactive Polymer Actuators and Devices (EAPAD) XX
編集者Yoseph Bar-Cohen
出版社SPIE
10594
ISBN(電子版)9781510616844
DOI
出版ステータス出版済み - 1 1 2018
イベントElectroactive Polymer Actuators and Devices (EAPAD) XX 2018 - Denver, 米国
継続期間: 3 5 20183 8 2018

出版物シリーズ

名前Proceedings of SPIE - The International Society for Optical Engineering
10594
ISSN(印刷版)0277-786X
ISSN(電子版)1996-756X

会議

会議Electroactive Polymer Actuators and Devices (EAPAD) XX 2018
Country米国
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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