拮抗型ナイロン繊維アクチュエータの変位制御

抄録

Recently, a novel artificial muscle actuator called as Nylon fiber actuator was reported. It is easily made of commercially available nylon fibers, and has remarkable properties such as flexibility and responsiveness. However, the deformation of the actuator caused by heating and cooling, and tracking to repeatedly reciprocal motion is difficult. In this paper, to improve the response performance of the actuator, an antagonistic type actuator is constructed and PID control is applied. The control performance is verified through numerical simulations and experiments.