27 March 2018 Gray-box modeling and control of torsional fishing-line artificial muscle actuators
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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.
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Chihaya Oiwa, Chihaya Oiwa, Ken Masuya, Ken Masuya, Kenji Tahara, Kenji Tahara, Toshihira Irisawa, Toshihira Irisawa, Masatoshi Shioya, Masatoshi Shioya, Takuma Yamauchi, Takuma Yamauchi, Eitaro Tanaka, Eitaro Tanaka, Kinji Asaka, Kinji Asaka, Kentaro Takagi, Kentaro Takagi, } "Gray-box modeling and control of torsional fishing-line artificial muscle actuators", Proc. SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX, 1059428 (27 March 2018); doi: 10.1117/12.2295899; https://doi.org/10.1117/12.2295899
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