Mathematical Model of a Linear Electric Actuator with Prosthesis Applications

Abstract

This paper presents the kinematic and dynamic model of a linear electric actuator. The kinematic model was obtained by geometric analysis. The dynamic model was obtained with Lagrange's methodology. This linear actuator forms part of parallel prosthetic elbow with 3 DOF developed in the Instituto Nacional de Astrofisica, Optica y Electronica (INAOE). This linear actuator will be used in the elbow prosthesis in order to emulate the capacity of a muscle to extend and contract in a linear way. In this paper we show the behavior the electromechanical according to the equations of the system and its physical parameters. The model includes the analysis of electrical and mechanical parts. The model includes conversion of rotational movement to linear movement and relation torque-force necessary for emulating a human muscle.