Control of twisted-coiled actuators via multi-DOF PID

Parisa Daemi; Mena Kamel; Jason Gharibo; Michael D. Naish; Ana Luisa Trejos; Aaron D. Price

doi:10.1117/12.2584667

22 March 2021 Control of twisted-coiled actuators via multi-DOF PID

Parisa Daemi, Mena Kamel, Jason Gharibo, Michael D. Naish, Ana Luisa Trejos, Aaron D. Price

Proceedings Volume 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII; 115870M (2021) https://doi.org/10.1117/12.2584667
Event: SPIE Smart Structures + Nondestructive Evaluation, 2021, Online Only

Abstract

In the last decade, twisted coiled actuators (TCAs) made from nylon have drawn the attention of the community as an attractive electroactive mechanism mimicking the performance of human muscles, with notably favourable output power densities. The feasibility of the TCA, in terms of performance, size, safety, and scalability has been evaluated in previous studies, but they exhibit substantially non-linear behaviour, thereby requiring a sophisticated control system. Furthermore, it is desired that these actuators are able to rapidly actuate to match biological muscle levels of capability. To this end, the efficacy of a linear physics-based model of TCAs was tested to elucidate the relationship between temperature, force, and displacement in these actuators. The accuracy of this modelling approach is discussed in the context of position control theory using a two-degree- of-freedom proportional-integral-derivative (PID) controller to switch between Joule heating and active cooling with a continuously controlled fan to enhance actuator response time. This model was subsequently employed to simulate the TCA response to heating and cooling in the MATLAB-Simulink® environment while referencing the experimental results reported by Takagi et al. as a benchmark. Results from this investigation indicate a 5% offset error, which is attributed to the non-linear nature of the TCA. Finally, results confirm that TCAs augmented with active cooling exhibit significantly improved cycle times relative to conventionally heat-controlled TCAs.

Conference Presentation

Citation Download Citation

Parisa Daemi, Mena Kamel, Jason Gharibo, Michael D. Naish, Ana Luisa Trejos, and Aaron D. Price "Control of twisted-coiled actuators via multi-DOF PID", Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, 115870M (22 March 2021); https://doi.org/10.1117/12.2584667

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available