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Gray-box modeling and control of torsional fishing-line artificial muscle actuators
Author(s): Chihaya Oiwa; Ken Masuya; Kenji Tahara; Toshihira Irisawa; Masatoshi Shioya; Takuma Yamauchi; Eitaro Tanaka; Kinji Asaka; Kentaro Takagi
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Paper Abstract

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.

Paper Details

Date Published: 27 March 2018
PDF: 11 pages
Proc. SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX, 1059428 (27 March 2018); doi: 10.1117/12.2295899
Show Author Affiliations
Chihaya Oiwa, Nagoya Univ. (Japan)
Ken Masuya, Kyushu Univ. (Japan)
Kenji Tahara, Kyushu Univ. (Japan)
Toshihira Irisawa, Nagoya Univ. (Japan)
Masatoshi Shioya, Tokyo Institute of Technology (Japan)
Takuma Yamauchi, DENSO Corp. (Japan)
Eitaro Tanaka, DENSO Corp. (Japan)
Kinji Asaka, AIST (Japan)
Kentaro Takagi, Nagoya Univ. (Japan)

Published in SPIE Proceedings Vol. 10594:
Electroactive Polymer Actuators and Devices (EAPAD) XX
Yoseph Bar-Cohen, Editor(s)

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