Cellular muscle actuators with variable resonant frequencies
Abstract
This paper presents the design and analysis of a novel variable stiffness and variable resonance actuator based on a cellular arrangement of piezoelectric devices. The cellular muscle actuator design concept is presented followed by a general dynamic model for establishing the theoretical bounds on achievable resonant frequencies. A model that is specific to the proposed design is then formulated to include the effects of parasitic dynamics. The resonance characteristics of a three cell prototype system are identified experimentally. The theoretical model and experimental results agree over a large frequency range and illustrate the variable resonance concept. Download: Bibtex: @INPROCEEDINGS{ Secord-RSS-09, AUTHOR = {T. W. Secord AND H. H. Asada}, TITLE = {Cellular muscle actuators with variable resonant frequencies}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2009}, ADDRESS = {Seattle, USA}, MONTH = {June}, DOI = {10.15607/RSS.2009.V.032} }