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

doi:10.1117/12.2295899

27 March 2018 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

Author Affiliations +

Proceedings Volume 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX; 1059428 (2018) https://doi.org/10.1117/12.2295899
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2018, Denver, Colorado, United States

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.

Citation Download Citation

Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Masatoshi Shioya, Takuma Yamauchi, Eitaro Tanaka, Kinji Asaka, and 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); https://doi.org/10.1117/12.2295899

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