Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread

Takeshi Arakawa, Kentaro Takagi, Kenji Tahara, Kinji Asaka

研究成果: 著書/レポートタイプへの貢献会議での発言

39 引用 (Scopus)

抄録

Recently, fishing line artificial muscle has been developed and is paid much attention due to the properties such as large contraction, light weight and extremely low cost. Typical fishing line artificial muscle is made from Nylon thread and made by just twisting the polymer. In this paper, because of the structure of the actuator, such actuators may be named as coiled polymer actuators (CPAs). In this paper, a CPA is fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire is wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model is proposed. According to the physical principle of the actuator, two first-order transfer functions are introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it is shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the voltage-driven CPA is discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification is shown.

元の言語英語
ホスト出版物のタイトルElectroactive Polymer Actuators and Devices (EAPAD) 2016
編集者Frederic Vidal, Yoseph Bar-Cohen
出版者SPIE
ISBN(電子版)9781510600393
DOI
出版物ステータス出版済み - 1 1 2016
イベントElectroactive Polymer Actuators and Devices (EAPAD) 2016 - Las Vegas, 米国
継続期間: 3 21 20163 24 2016

出版物シリーズ

名前Proceedings of SPIE - The International Society for Optical Engineering
9798
ISSN(印刷物)0277-786X
ISSN(電子版)1996-756X

その他

その他Electroactive Polymer Actuators and Devices (EAPAD) 2016
米国
Las Vegas
期間3/21/163/24/16

Fingerprint

fishing
Artificial muscle
Position Control
Nylon (trademark)
threads
Nylons
Position control
muscles
Thread
Muscle
Actuator
Polymers
Actuators
actuators
Line
polymers
controllers
Nichrome (trademark)
Controllers
Voltage

All Science Journal Classification (ASJC) codes

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

これを引用

Arakawa, T., Takagi, K., Tahara, K., & Asaka, K. (2016). Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread. : F. Vidal, & Y. Bar-Cohen (版), Electroactive Polymer Actuators and Devices (EAPAD) 2016 [97982W] (Proceedings of SPIE - The International Society for Optical Engineering; 巻数 9798). SPIE. https://doi.org/10.1117/12.2218850

Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread. / Arakawa, Takeshi; Takagi, Kentaro; Tahara, Kenji; Asaka, Kinji.

Electroactive Polymer Actuators and Devices (EAPAD) 2016. 版 / Frederic Vidal; Yoseph Bar-Cohen. SPIE, 2016. 97982W (Proceedings of SPIE - The International Society for Optical Engineering; 巻 9798).

研究成果: 著書/レポートタイプへの貢献会議での発言

Arakawa, T, Takagi, K, Tahara, K & Asaka, K 2016, Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread. : F Vidal & Y Bar-Cohen (版), Electroactive Polymer Actuators and Devices (EAPAD) 2016., 97982W, Proceedings of SPIE - The International Society for Optical Engineering, 巻. 9798, SPIE, Electroactive Polymer Actuators and Devices (EAPAD) 2016, Las Vegas, 米国, 3/21/16. https://doi.org/10.1117/12.2218850
Arakawa T, Takagi K, Tahara K, Asaka K. Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread. : Vidal F, Bar-Cohen Y, 編集者, Electroactive Polymer Actuators and Devices (EAPAD) 2016. SPIE. 2016. 97982W. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.2218850
Arakawa, Takeshi ; Takagi, Kentaro ; Tahara, Kenji ; Asaka, Kinji. / Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread. Electroactive Polymer Actuators and Devices (EAPAD) 2016. 編集者 / Frederic Vidal ; Yoseph Bar-Cohen. SPIE, 2016. (Proceedings of SPIE - The International Society for Optical Engineering).
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