Experimental study of position control with tube-type dielectric elastomer actuator
Experimental study of position control with tube-type dielectric elastomer actuator
复制标题
管式介电弹性体执行器位置控制实验研究
DOI：
10.1109/icamechs.2013.6681807
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Kazunobu Hashimoto
中科院分区：
文献类型：
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作者：
Chang;K. Takagi;Tatsuya Suzuki;S. Hosoe;Akitoshi Nozawa;Kazunobu Hashimoto
近年来，能够像肌肉一样伸缩的介质弹性体驱动器受到了广泛的关注。与传统的薄膜型介质弹性体作动器不同，研制了一种可在单轴方向上变形的管式介质弹性体作动器。由于电介质弹性体作动器的性能通常取决于其预应变，在本研究中首先检查在不同的预应变下的驱动器的发展。其次，为了将所研制的驱动器作为人工肌肉应用于机器人，基于其阶跃响应和频率响应实验数据，建立了所研制的介质弹性体驱动器的基本伸展运动模型。然后设计PI控制器，实现对执行器末端位移的位置控制。仿真和实验结果验证了该方法的有效性。
Recently, dielectric elastomer actuator which can expand as a muscle has been paid more attention. Different from traditional film-type dielectric elastomer actuator, tube-type dielectric elastomer actuator which can deform on uniaxial direction is developed. Since the performance of dielectric elastomer actuator usually depends on its prestrain, actuation of the developed actuator under different prestrains is checked firstly in this research. Secondly, in order to apply the developed actuator as artificial muscle into robot, the basic expansion movement of the developed dielectric elastomer actuator is modeled based on its step response and frequency response experimental data. Then the PI controllers are designed to realize the position control of the tip displacement of the actuator. Finally, the effectiveness of the proposed method is verified by simulation and experimental results.