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dc.contributor.authorYe, Zhihang
dc.contributor.authorChen, Zheng
dc.date.accessioned2019-03-05T19:52:29Z
dc.date.available2019-03-05T19:52:29Z
dc.date.issued2019-02
dc.identifier.citationZ. Ye and Z. Chen, "Modeling and Control of a 2-DOF Dielectric Elastomer Diaphragm Actuator," in IEEE/ASME Transactions on Mechatronics, vol. 24, no. 1, pp. 218-227, Feb. 2019en_US
dc.identifier.issn1083-4435
dc.identifier.otherWOS:000458807900022
dc.identifier.urihttps://doi.org/10.1109/TMECH.2019.2890864
dc.identifier.urihttp://hdl.handle.net/10057/15837
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractIn optical systems, reflectors are commonly used for directing light beams to desired directions. In this paper, a dielectric elastomer (DE) based optical manipulator is developed for two degrees-of-freedom (2-DOF) manipulation. The DE manipulator consists of a diaphragm with four segments that are controlled in two pairs, thus generating 2-DOF tilting motions. Due to its soft and gear-less moving structure, the DE manipulator is lightweight and naturally resistant to mechanical vibrations. Moreover, its nonelectromagnetic-driven mechanism allows it to work under the environments that are exposed to strong magnetic fields. To design a robust control strategy for the actuator, a physics-based and control-oriented nonlinear model is then developed and linearized around the equilibrium point. A feedback control system, which consists of two H-infinity controls, is developed to track two tilting angles along two axes. Experimental results have shown that this manipulator is able to track 0.3 degrees 2-DOF tilting angle with 0.03 degrees accuracy.en_US
dc.description.sponsorshipNational Science Foundation under Grant CMMI #1747855.en_US
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.ispartofseriesIEEE/ASME Transactions on Mechatronics;v.24:no.1
dc.subjectDielectric elastomer (DE)en_US
dc.subjectModelingen_US
dc.subjectTwo degrees-of-freedom (2-DOF) tracking controlen_US
dc.titleModeling and control of a 2-DOF dielectric elastomer diaphragm actuatoren_US
dc.typeArticleen_US
dc.rights.holder© 2019, IEEEen_US


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