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Modeling and Control of Electric Linear Actuator for Driving Knee Joint of a Lower Body Exoskeleton

Modeling and Control of Electric Linear Actuator for Driving Knee Joint of a Lower Body Exoskeleton

Ganesh Roy (Indian Institute of Engineering Science and Technology, Shibpur, India), Hano Jacob Saji (Indian Institute of Engineering Science and Technology, Shibpur, India), Subir Das (Indian Institute of Engineering Science and Technology, Shibpur, India), and Subhasis Bhaumik (Indian Institute of Engineering Science and Technology, Shibpur, India)
Copyright: © 2020 |Pages: 18
DOI: 10.4018/978-1-7998-2584-5.ch004
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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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Modeling Of Linear Actuator

The mathematical model helps to develop the physical system of the linear actuator and its schematic (Nise, 2011). Generally, the electric linear actuator has three parts: a dc motor, which is driven by the motor driver, a motor shaft, and a lead screw. The general block diagram of the electric linear actuator is presented in Figure 1. The motor shaft is coupled with a set of gears to step down the speed for increasing the torque of the motor. The lead screw mechanism is used to exchange the rotating motion into translating motion.

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