A Dynamic Model of a Concentric LADD Actuator

Abstract

A LADD actuator is a device capable of converting rotational motion to translational motion and has potential for use in manipulators, robotics, and prosthetics. Two low order lumped parameter dynamic models of a concentric LADD actuator have been formulated and experimentally verified. The sixth order model includes elasticity effects while the second order model does not. Both of these models are presented in bond graph terminology in order to ease their use in overall system models.