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	Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints 期刊论文 OAI收割 JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2023, 卷号: 109, 期号: 4, 页码: 18 作者: Ma, Jie; Han, Zhiji; Liu, Zhijie; Li, Guotao; He, Wei \| 收藏 \| 浏览/下载：26/0 \| 提交时间：2024/02/22 Soft robot Four-longitudinal muscle Dynamic model Actuator modeling Performance constraint
	Toward a Maneuverable Miniature Robotic Fish Equipped With a Novel Magnetic Actuator System 期刊论文 OAI收割 IEEE Transactions on Systems Man Cybernetics-Systems, 2018, 卷号: 无, 期号: 无, 页码: 无作者: Xingyu Chen; Junzhi Yu; Zhengxing Wu; Yan Meng; Shihan Kong \| 收藏 \| 浏览/下载：25/0 \| 提交时间：2020/06/08 Dynamic modeling Magnetic actuator system (MAS) Maneuverability Robotic fish Underwater robot
	A Neural Network Based Modeling Approach for A Piezoelectric-Actuated Stick-Slip Positioning Device 会议论文 OAI收割 Xiamen, China, 2017-12-06 作者: Cheng, Long; Wang, Ang \| 收藏 \| 浏览/下载：15/0 \| 提交时间：2018/05/04 Piezoelectric Actuator Stick-slip Principle Neural Network Modeling
	Modeling and variable structure control of a vehicle flexible manipulator (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者: Wang Z.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 In this paper the mathematical modeling and the application of a new trajectory tracking control technique for hydraulic-driven rigid-flexible manipulator are concerned. To get a closer dynamic behavior of the real system both the flexible manipulator linkage and the actuator dynamics are considered. The exact dynamic model of flexible manipulator is derived using Lagrange principle and assumed modes method. The partial decoupled dynamic equation is derived using nonlinear decoupling feedback control method. The whole dynamic model is established by a driven Jacobin matrix which represents the coupling between hydraulic servo system and mechanical system. A variable structure controller with inverse dynamics is designed for trajectory tracking. To weaken the chattering of control signal saturation function is used to instead of sign function. The experimental results investigate the effectiveness of the proposed approaches. 2012 IEEE.
	The parameter optimization of missile actuator based on spatial RSSR linkage mechanism (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Electric Information and Control Engineering, ICEICE 2011, April 15, 2011 - April 17, 2011, Wuhan, China Ge M.; Han X.; Jia H. 收藏 \| 浏览/下载：16/0 \| 提交时间：2013/03/25 Analyzed the forms of movement of missile actuator based on spatial RSSR linkage mechanism. To achieve synchronic output of each axis applied the multi-body dynamic application ADAMS to realize its parametric modeling and optimization finally got the appropriate parameters to satisfy the performance. Then researched the parameters affection to synchronic performance completed the initial design of the actuator transmission system. 2011 IEEE.
	Study of micro-actuator with electrostatic actuating (EI CONFERENCE) 会议论文 OAI收割 ICO20: MEMS, MOEMS, and NEMS, August 21, 2005 - August 26, 2005, Changchun, China 作者: Liu C.-X.; Liu C.-X. 收藏 \| 浏览/下载：17/0 \| 提交时间：2013/03/25 The micro-actuator with the torsion beam and the cantilever beam on silicon is designed and analyzed which is actuated by electrostatic force. Based on the torsion dynamics theory the technique and relative formula are presented for analyzing the actuating voltage and the switching time on which the effect of the air squeeze film damping is already considered. The optimized results of the structural parameters are compared between this technique and the finite element modeling (FEM). The optimized result of parameters is as: length width and thickness of the torsion beam are 700 12 and 10m length and width of the cantilever beam are 1900 and 1000m length and width of the balance beam are 100 and 1000m and distance of the upper and lower electrodes is 55m respectively. The actuating voltage is about 50 V and the switching time Toff and Ton are about 5 and 12 ms respectively. The computed results show that the air squeeze film damping is an important factor for the study of dynamic response on micro-actuator. Finally an optical technique is described for the measurement of the actuating voltage and switching time of the device and the difference between the experimental results and theoretical datum is discussed.