Modeling and identification of rotational joint driven by polymer fiber actuator

João R. C. de Araújo; Saulo  O. D. Luiz; Antonio  M. N. Lima

doi:10.48011/asba.v2i1.1576

João R. C. de Araújo Graduate Program in Electrical Engineering - PPgEE/UFCG
Saulo O. D. Luiz Federal University of Campina Grande (UFCG)
Antonio M. N. Lima Federal University of Campina Grande (UFCG)

DOI: https://doi.org/10.48011/asba.v2i1.1576

Keywords: Actuator, Antagonistic, Nylon, System identification

Abstract

Coiled polymer actuators have the characteristic to generate power by contracting when heated under strain. This work presents a project of a rotational joint driven by such actuators. Furthermore, the thermmomechanical model of the CPAs is identified by means of the least squares method. In addition, a model of the joint considering a viscous friction is suggested. Finally, the joint model is identified by means of a non linear optimization algorithm.