Thermomechanical actuator for micro-robotic systems: A model and parameter estimation

Авторы: Bolotnik N., Chashchukhin V., Gradetsky V., Kozlov D., Nunuparov A., Smirnov I., Zhukov A.
Сборник: ROMANSY 22 – Robot Design, Dynamics and Control. Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France
Серия: CISM International Centre for Mechanical Sciences (Courses and Lectures)
Том: 584
Год издания: 2019
Место издания: Springer Cham
Первая страница: 340
Последняя страница: 346
DOI: 10.1007/978-3-319-78963-7_43
Аннотация: The paper deals with modeling of a thermomechanical actuator for a microrobot. The actuator is modeled by a linkage of rigid bars connected by elastic joints. A series of experiments were performed to estimate the parameters of the adopted model. The parameters of the model are calculated and validated. The actuators of such a type can be used, for example, in robotic devices designed for operation in spacecraft. These actuators are simple to manufacture and control. Mathematical modeling of the mechanical properties of the actuators could help plan motions and design control strategies for robotic systems.
Добавил в систему: Болотник Николай Николаевич

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