A NEW ACTUATOR OF A JOINT MECHANISM USING TINI ALLOY WIRE

被引：59

作者：

KURIBAYASHI, K

机构：

[1] Univ of Osaka Prefecture, Dep of, Mechanical Engineering, Sakai, Jpn, Univ of Osaka Prefecture, Dep of Mechanical Engineering, Sakai, Jpn

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1986年 / 4卷 / 04期

关键词：

ACTUATORS - Materials - CONTROL SYSTEMS - Mathematical Models - WIRE - Titanium Nickel Alloys;

D O I：

10.1177/027836498600400404

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 mathematical model of the actuator is induced. Next, the control systems of the actuator are synthesized by pulse width modulated (PWM) controllers, and the mathematical mdoels 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.

引用

页码：47 / 58

页数：12