Abstract
The actuator is an integrated part of every robotic system which can actuate the joint for the necessary movement of the device. Depending on the energy conversion mechanism, the actuators are subdivided into three classes, namely electric, pneumatic, and hydraulic. The electric actuators are very popular in the field of engineering and technology due to their ease of use and low maintenance. In this chapter, an electric linear actuator (Manufactured by TiMOTION, Model: TA1) has been modeled by considering its each and every associated physical parameter and also simulated in MATLAB Simscape to observe its performance. Also, different control actions like PID, LQR, and Sliding mode methods have been studied to select the best control action for the actuator. Finally, as an application of the developed actuator model, a one DOF robotic assistive device called human knee exoskeleton has been designed in the MATLAB Simscape. It has been tested that the knee joint trajectory has been followed by the actuator with suitable control action.
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