Design and Control of Three-DOF Dielectric Polymer Actuator
Smart polymer based actuators have demonstrated various benefits over the traditional electromagnetic or piezoelectric-material actuators. One of the most significant contributions of the polymers is its soft actuation mechanisms. Hence morphological freedom for actuator construction benefits production of either small scale complex mechanisms or human-like applications. Although many actuation paradigms of polymer actuators are presented in various publications, no significant contributions are made for investigation of modeling and control methods of the material. In the present work, a smart polymer based actuator is constructed. It is then modeled and analyzed for feasible control scheme selection.
Young-Jin Kim, Dong-Ho Bae and Yun-Jae Kim
J. C. Koo et al., "Design and Control of Three-DOF Dielectric Polymer Actuator ", Key Engineering Materials, Vols. 297-300, pp. 665-670, 2005