Affiliation:
1. Department of Mechanical Engineering Faculty of Engineering University of Osaka Prefecture Mozu, Sakai, Osaka, Japan
Abstract
A new actuator of a joint mechanism is proposed, composed of two TiNi alloy wires. First, the static and dynamic properties of the TiNi alloy wire that were not known are analyzed. Then the mathemati cal model of the actuator is induced. Next, the control sys tems of the actuator are synthesized by pulse width modu lated (PWM) controllers, and the mathematical models of the control systems are then obtained. Finally, the experiments of the position and force control systems of the actuator are carried out. It is proved that the theoretical models obtained are valid and that the position and force controls of this actuator are possible. Moreover, the unknown characteristics of the other well- known type of actuator composed of a TiNi alloy wire and an ordinary spring are also analyzed by the above procedure. The mathematical models are presented.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
76 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献