Self-Sensing Electro-Ribbon Actuators
Self-Sensing Electro-Ribbon Actuators
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DOI：
10.1109/lra.2020.2983677
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发表时间：
2020-07-01
影响因子：
5.2
通讯作者：
Rossiter, Jonathan
中科院分区：
文献类型：
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作者：
Bluett, Simon;Helps, Tim;Rossiter, Jonathan
在这封信中，我们调查的可行性电容自感知的电带致动器，使他们能够同时用作致动器和传感器。最初，电带致动器仅被实现为传感器，并且发现电容和位移之间的指数关系使得该设备在大于2 mm的距离处成为差的传感器。当同时用作致动器和传感器时，电极的“拉链”运动改变了这种关系，使其更适合于位置感测。发现电容是电极经历的拉链量的良好指标。对于有效的位移感测，施加到致动器的负载的质量应该是已知的。最后，实现了一个采用自检测反馈的闭环PI位置控制系统。结果表明，只要已知施加的负载，电容式自感测可以用于以合理的精度控制电带致动器的位置。
In this letter, we investigate the viability of capacitance self-sensing of electro-ribbon actuators, allowing them to be used simultaneously as an actuator and a sensor. Initially the electro-ribbon actuator was implemented only as a sensor, and it was found that the exponential relationship between capacitance and displacement made the device a poor sensor at distances greater than 2 mm. When used simultaneously as an actuator and a sensor, the 'zipping' motion of the electrodes changed this relationship, making it more suitable for position sensing. Capacitance was found to be a good indicator of the amount of zipping experienced by the electrodes. For effective displacement sensing, the mass of the the load being applied to the actuator should be known. Finally, a closed-loop PI position control system using self-sensing feedback was implemented. The results demonstrated that, provided the applied load is known, capacitive self-sensing can be used to control the position of electro-ribbon actuators with reasonable accuracy.