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Title
Japanese:釣糸人工筋肉の束を利用したアクチュエータユニットの開発 
English: 
Author
Japanese: 舛屋 賢, 小野 秀, 高木 賢太郎, 田原 健二.  
English: Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会講演概要集 
English: 
Volume, Number, Page         2A1-A02
Published date May 2017 
Publisher
Japanese:一般社団法人 日本機械学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract <p>An actuator unit consisting of multiple twisted and coiled polymer actuators (TCPA) with the feedforward controller is proposed. TCPA is made by two methods: 1) overtwisting the fiber and 2) winding the twisted fiber around the mandrel. The former output the larger force than the latter, while the former shows the smaller stroke. In order to realize the coexistence of large stroke and large output force, we combine multiple TCPAs fabricated by the latter method. The performance of the actuator unit is investigated through the experiment. Additionally, it is verified that the feedforward controller based on the authors' nonlinear displacement model can reduce the offset error compared with that based on the linear model.</p>

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