Accession Number : ADA259786


Title :   Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers


Descriptive Note : Memorandum rept.


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB


Personal Author(s) : Brock, David L


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a259786.pdf


Report Date : Nov 1991


Pagination or Media Count : 24


Abstract : A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz.


Descriptors :   *POLYMERS , *MUSCLES , *GELS , CONTROL , SIMULATION , VOLUME , FIBERS , ENERGY , TIME , NONLINEAR SYSTEMS , CHEMICAL REACTIONS , BASES(CHEMISTRY) , ACIDS , CONTRACTION , SLIDING , PH FACTOR , TRAJECTORIES , VALVES , ACTUATORS , EXTERNAL , TRACKS , MECHANICAL ENERGY , RESPONSE , VARIATIONS , TRACKING , CONTROL SYSTEMS , MODELS , CHEMICALS , DYNAMICS


Subject Categories : Anatomy and Physiology
      Physical Chemistry
      Polymer Chemistry
      Non-electrical Energy Conversion


Distribution Statement : APPROVED FOR PUBLIC RELEASE