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

Hiroki Kubota, Kenji Tahara

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

抄録

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.

本文言語英語
ホスト出版物のタイトルAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ539-544
ページ数6
2018-July
ISBN(印刷版)9781538618547
DOI
出版ステータス出版済み - 8月 30 2018
イベント2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, ニュージ―ランド
継続期間: 7月 9 20187月 12 2018

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

会議

会議2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
国/地域ニュージ―ランド
CityAuckland
Period7/9/187/12/18

!!!All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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