Ken Masuya,
Shu Ono,
Kentaro Takagi,
Kenji Tahara.
言語
Japanese
掲載誌/書名
和文:
ロボティクス・メカトロニクス講演会講演概要集
英文:
巻, 号, ページ
2A1-A02
出版年月
2017年5月
出版者
和文:
一般社団法人 日本機械学会
英文:
会議名称
和文:
英文:
開催地
和文:
英文:
アブストラクト
<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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