Abstract
A new actuator of a joint mechanism is proposed, composed of two TiNi alloy wires. First, the static and dynamic properties of the TiNi alloy wire that were not known are analyzed. Then the mathemati cal model of the actuator is induced. Next, the control sys tems of the actuator are synthesized by pulse width modu lated (PWM) controllers, and the mathematical models of the control systems are then obtained. Finally, the experiments of the position and force control systems of the actuator are carried out. It is proved that the theoretical models obtained are valid and that the position and force controls of this actuator are possible. Moreover, the unknown characteristics of the other well- known type of actuator composed of a TiNi alloy wire and an ordinary spring are also analyzed by the above procedure. The mathematical models are presented.
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