Design and Control of Multi–jointed Robot Finger based on Artificial Muscle Actuator.* *This research was financially supported by the Ministry of Knowledge Economy(MKE) and Korea Industrial Technology Foundation (KOTEF) through the Human Resource Training Project for Strategic Technology, Korea. All correspondences are to be sent to Prof. Choi at hrchoi@me.skku.ac.kr

Autor:	Nguyen Huu Lam Vuong, Ja Choon Koo, Jae-Do Nam, Nguyen Huu Chuc, Youngkwan Lee, DukSang Kim, Hyouk Ryeol Choi
Rok vydání:	2009
Předmět:	Engineering Pneumatic actuator business.industry Robot hand Control engineering Robot finger Linear actuator Hardware_GENERAL Control theory Robot Artificial muscle Feedback controller business Actuator
Zdroj:	SyRoCo
ISSN:	1474-6670
DOI:	10.3182/20090909-4-jp-2010.00069
Popis:	A new biomimetic actuation system by artificial muscle actuator based on dielectric elastomer is presented in this paper. A novel linear actuator called “multi-stacked actuator” is introduced, which can be embedded in the phalanges of the finger and ensures a compact design of the overall system. The performance of the proposed actuation system is demonstrated using two degree–of–freedom robot finger. A pulse-width-modulation proportional-integral-derivative (PWM-PID) feedback controller based on the discharging circuit is implemented and tested. The proposed system can be extended to the multi–fingered robot hand easily, and applied even for articulated mechanisms such as legged robots etc.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::63d95eb41ea421ca24ff92582652c0e3 https://doi.org/10.3182/20090909-4-jp-2010.00069 Zobrazit plný text záznamu