WorldWideScience

Sample records for actuators

  1. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee

    2010-08-01

    There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.

  2. Model of magnetostrictive actuator

    Institute of Scientific and Technical Information of China (English)

    LI Lin; ZHANG Yuan-yuan

    2005-01-01

    The hysteresis of the magnetostrictive actuator was studied. A mathematical model of the hysteresis loop was obtained on the basis of experiment. This model depends on the frequency and the amplitude of the alternating current inputted to the magnetostrictive actuator. Based on the model, the effect of hysteresis on dynamic output of the magnetostrictive actuator was investigated. Then how to consider hysteresis and establish a dynamic model of a magnetostrictive actuator system is discussed when a practical system was designed and applied.

  3. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao;

    2012-01-01

    A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...

  4. MEMS fluidic actuator

    Science.gov (United States)

    Kholwadwala, Deepesh K.; Johnston, Gabriel A.; Rohrer, Brandon R.; Galambos, Paul C.; Okandan, Murat

    2007-07-24

    The present invention comprises a novel, lightweight, massively parallel device comprising microelectromechanical (MEMS) fluidic actuators, to reconfigure the profile, of a surface. Each microfluidic actuator comprises an independent bladder that can act as both a sensor and an actuator. A MEMS sensor, and a MEMS valve within each microfluidic actuator, operate cooperatively to monitor the fluid within each bladder, and regulate the flow of the fluid entering and exiting each bladder. When adjacently spaced in a array, microfluidic actuators can create arbitrary surface profiles in response to a change in the operating environment of the surface. In an embodiment of the invention, the profile of an airfoil is controlled by independent extension and contraction of a plurality of actuators, that operate to displace a compliant cover.

  5. Magnetic actuators and sensors

    CERN Document Server

    Brauer, John R

    2014-01-01

    An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva

  6. High Resolution Actuators

    Directory of Open Access Journals (Sweden)

    Mathieu Grossard

    2016-06-01

    Full Text Available Driven by increasing societal, economic, and technological pressures, high-resolution actuators must achieve ever increasing accuracy requirements and functional integration into the system.[...

  7. Sensors and actuators, Twente

    NARCIS (Netherlands)

    Bergveld, P.

    1989-01-01

    This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,

  8. An electrochemical micro actuator

    NARCIS (Netherlands)

    Hamberg, M.W.; Neagu, C.R.; Gardeniers, J.G.E.; IJntema, D.J.; Elwenspoek, M.C.

    1995-01-01

    In this paper an investigation of the feasibility of a new electrochemical micro actuator is presented. The actuator is fabricated using silicon micro-machining techniques. A gas pressure is generated by electrolysis of an aqueous electrolyte solution. The build up pressure is used to change the def

  9. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  10. Conjugated Polymers as Actuators: Modes of Actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  11. Muscle Motion Solenoid Actuator

    Science.gov (United States)

    Obata, Shuji

    It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.

  12. Magnetically Actuated Seal Project

    Data.gov (United States)

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  13. Combustion powered linear actuator

    Science.gov (United States)

    Fischer, Gary J.

    2007-09-04

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  14. Laser Initiated Actuator study

    Energy Technology Data Exchange (ETDEWEB)

    Watson, B.

    1991-06-27

    The program task was to design and study a laser initiated actuator. The design of the actuator is described, it being comprised of the fiber and body subassemblies. The energy source for all experiments was a Spectra Diode 2200-H2 laser diode. The diode is directly coupled to a 100 micron core, 0.3 numerical aperture fiber optic terminated with an SMA connector. The successful testing results are described and recommendations are made.

  15. Dielectric Actuation of Polymers

    OpenAIRE

    Niu, Xiaofan

    2013-01-01

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy den...

  16. Actuation of polypyrrole nanowires

    Science.gov (United States)

    Lee, Alexander S.; Peteu, Serban F.; Ly, James V.; Requicha, Aristides A. G.; Thompson, Mark E.; Zhou, Chongwu

    2008-04-01

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  17. Actuation of polypyrrole nanowires

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou Chongwu [Laboratory for Molecular Robotics, University of Southern California, Los Angeles, CA 90089 (United States)], E-mail: requicha@usc.edu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 {mu}m, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  18. Actuation of polypyrrole nanowires.

    Science.gov (United States)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou, Chongwu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  19. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

    2014-09-01

    There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator

  20. Hydraulic involute cam actuator

    Science.gov (United States)

    Love, Lonnie J.; Lind, Randall F.

    2011-11-01

    Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.

  1. Applications of dielectric elastomer actuators

    Science.gov (United States)

    Pelrine, Ron; Sommer-Larsen, Peter; Kornbluh, Roy D.; Heydt, Richard; Kofod, Guggi; Pei, Qibing; Gravesen, Peter

    2001-07-01

    Dielectric elastomer actuators, based on the field-induced deformation of elastomeric polymers with compliant electrodes, can produce a large strain response, combined with a fast response time and high electromechanical efficiency. This unique performance, combined with other factors such as low cost, suggests many potential applications, a wide range of which are under investigation. Applications that effectively exploit the properties of dielectric elastomers include artificial muscle actuators for robots; low-cost, lightweight linear actuators; solid- state optical devices; diaphragm actuators for pumps and smart skins; acoustic actuators; and rotary motors. Issues that may ultimately determine the success or failure of the actuation technology for specific applications include the durability of the actuator, the performance of the actuator under load, operating voltage and power requirements, and electronic driving circuitry, to name a few.

  2. Overview on permanent magnetic actuator

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Permanent magnetic actuator (PMA), as a new electronic actuator of vacuum circuit breakers, certainly will be used to replace the traditional mechanical actuator. It has such advantages as simple structure, high reliability, free maintenance, and so on. This paper summarizes the development, structure, magnetic analysis, character analysis, and control strategy of PMA, and also predicts the future trend of PMA development

  3. A Magnetic Bead Actuator

    NARCIS (Netherlands)

    Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.

    2006-01-01

    Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume surrou

  4. The Actuated Guitar

    DEFF Research Database (Denmark)

    Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.

    2013-01-01

    Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand inte...

  5. Piezoelectric actuator renaissance

    Science.gov (United States)

    Uchino, Kenji

    2015-03-01

    This paper resumes the content of the invited talk of the author, read at the occasion of the International Workshop on Relaxor Ferroelectrics, IWRF 14, held on October 12-16, 2014 in Stirin, Czech Republic. It reviews the recent advances in materials, designing concepts, and new applications of piezoelectric actuators, as well as the future perspectives of this area.

  6. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

    Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research

  7. Dielectric Actuation of Polymers

    Science.gov (United States)

    Niu, Xiaofan

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy densities, high coupling efficiency, quiet operation, and light weight. One focus of this dissertation is on the design of DE materials with high performance and easy processing. UV radiation curing of reactive species is studied as a generic synthesis methodology to provide a platform for material scientists to customize their own DE materials. Oligomers/monomers, crosslinkers, and other additives are mixed and cured at appropriate ratios to control the stress-strain response, suppress electromechanical instability of the resulting polymers, and provide stable actuation strains larger than 100% and energy densities higher than 1 J/g. The processing is largely simplified in the new material system by removal of the prestretching step. Multilayer stack actuators with 11% linear strain are demonstrated in a procedure fully compatible with industrial production. A multifunctional DE derivative material, bistable electroactive polymer (BSEP), is invented enabling repeatable rigid-to-rigid deformation without bulky external structures. Bistable actuation allows the polymer actuator to have two distinct states that can support external load without device failure. Plasticizers are used to lower the glass transition temperature to 45 °C. Interpenetrating polymer network structure is established inside the BSEP to suppress electromechanical instability, providing a breakdown field of 194 MV/m and a stable bistable strain as large as 228% with a 97% strain fixity. The application of BSEP

  8. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2010-01-01

    Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.

  9. Active Polymer Gel Actuators

    OpenAIRE

    Shuji Hashimoto; Ryo Yoshida; Yusuke Hara; Shingo Maeda

    2010-01-01

    Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of he...

  10. Stepper Motor Actuated Microvalve

    OpenAIRE

    Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko

    2006-01-01

    We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized wi...

  11. Actuator technology and market outlook: where does the actuator move

    Directory of Open Access Journals (Sweden)

    Aleksanin Sergei Andreevich

    2013-11-01

    There are made conclusions about the "migration" of demand from hydraulic and pneumatic solutions to electromechanical actuators in the aerospace and manufacturing industries. Identify advantages of electromechanics over more traditional actuators in terms of energy efficiency and reliability. Also identify the most promising areas of the drive technological development.

  12. Piezoelectric actuated gimbal

    Science.gov (United States)

    Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard

    2011-09-13

    A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.

  13. Laser Actuated Presentation System

    CERN Document Server

    Chowdhary, Atul; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given threshold value. Measured Reliability, Accuracy and Latency of our system are 90%, 10 pixels (in the worst case) and 38 ms respectively.

  14. Laser Actuated Presentation System

    OpenAIRE

    Chowdhary, Atul; Agrawal, Vivek; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given thre...

  15. Pneumatically actuated micropipetting device

    Science.gov (United States)

    Szita, Nicolas; Buser, Rudolf A.

    1998-03-01

    We have realized a valveless micropipetting device with an integrated sensor which can aspirate and dispense liquid volumes without any valves, hence without any reflow or dead volume. With an external pneumatic actuation, we have demonstrated aspirating and dispensing from 190nl of 6 (mu) l of water. Measurements showed a standard deviation of down to 1 percent. An integrated capacitive sensor will allow monitoring of the pressure throughout the pipetting process and detect malfunctions, e.g. clotting of the pipetting tip. It is our intention to use this demonstrated precise aspiration mechanism in combination with a micromachined reaction chamber and a miniaturized optical analysis system.

  16. The Actuated Guitar

    DEFF Research Database (Denmark)

    Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.

    2014-01-01

    People with a physical handicap are often not able to engage and embrace the world of music on the same terms as normal functioning people. Traditional musical instruments have been refined over the last centuries, developing highly specialized and powerful interfaces; but nearly all require two...... functioning limbs, such as a foot, knee or the head to activate a motorized fader moving a pick back and forth across the strings. This approach employs the flexibility of a programmable digital system which allows us to scale and map different ranges of data from various sensors to the motion of the actuator...

  17. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh

    2014-01-01

    actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...

  18. Rotary actuator for space applications

    Science.gov (United States)

    Andión, J. A.; Burgui, C.; Migliorero, G.

    2005-07-01

    SENER is developing a rotary actuator for space applications. The activity, partially funded under ESA GSTP contract, aims at the design, development and performance testing of an innovative rotary actuator concept for space applications. An engineering model has been manufactured and has been tested to demonstrate the compliance with the requirements specification.

  19. Pneumatic actuator with hydraulic control

    Science.gov (United States)

    Everett, Hobart R., Jr.

    1992-11-01

    The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston. The maximum translation of the piston within the bore of the second double-acting hydraulic actuator provides a volumetric displacement V2, where V2=V1. A pair of fluid ports in each of the first and second double-acting hydraulic cylinders are operably connected by fluid conduits, one of which includes a valve circuit which may be used to control the velocity of the output rod or to lock the output rod in a static position by regulating the flow of hydraulic fluid between the double-acting cylinders.

  20. FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A piezoelectric actuator has the benefits of flexibility of its position, without time lag and wide bandpass characteristics. The early results of the wind tunnel flutter suppression test using the piezoeletric actuator were presented in Ref.[1]. A rigid rectangular wing model is constrained by a plunge spring and a pitch spring, and a pair of piezoelectric actuators is bonded on both sides of the plunge spring so as to carry out the active control. Refs.[2,3] reported two flutter suppression wind tunnel tests where the distributed piezoelectric actuators were used. In Ref.[2] low speed wind tunnel tests were conducted with aluminum and composite plate-like rectangular models fully covered by piezoelectric actuators. Flutter speed is increased by 11%. In Ref.[3] a composite plate-like swept back model with piezoceramic actuators bonded on the inboard surface was tested in a transonic wind tunnel and a 12% increment of flutter dynamic pressure was achieved.  In the present investigation, an aluminum plate-like rectangular model with inboard bonded piezoceramic actuators is adopted. Active flutter suppression control law has been designed. A series of analyses and ground tests and, finally, low-speed wind tunnel tests with the active control system opened and closed are conducted. Reasonable results have been obtained.

  1. Energy-Efficient Variable Stiffness Actuators

    NARCIS (Netherlands)

    Visser, Ludo C.; Carloni, Raffaella; Stramigioli, Stefano

    2011-01-01

    Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated

  2. NEW PRECISION PIEZOELECTRIC STEP ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    LIU Jianfang; YANG Zhigang; FAN Zunqiang; CHENG Guangming

    2006-01-01

    A new precision piezoelectric actuator is proposed to improve its drive capabilities. The actuator is based on the piezoelectric technology. It adopts the principle of bionics and works with a new method of stator initiative anchoring/loosen and a distortion structure of double-side thin flexible hinge. It solves the problem of anchoring/loosen, frequency, journey, resolution and velocity. The experiment shows that the new linear piezoelectric actuator works with high frequency (100 Hz), high speed (502 μm/s), large travel (>10 mm), high resolution (0.05 μm) and high load (100 N). This kind of new piezoelectric actuator will be applied for large travel and high resolution driving device, optics engineering, precision positioning and some micromanipulation field.

  3. Novel Cryogenic Actuator Development Project

    Data.gov (United States)

    National Aeronautics and Space Administration —  New thin film low friction coating technologies have recently been developed and matured to the point for use in this IRAD actuator work.The new novel...

  4. Polypyrrole Actuators for Tremor Suppression

    DEFF Research Database (Denmark)

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse;

    2003-01-01

    Neurological tremor affecting limbs can be divided into at least 6 different types with frequencies ranging from 2 to about 20 Hz. In order to alleviate the symptoms by suppressing the tremor, sensing and actuation systems able to perform at these frequencies are needed. Electroactive polymers...... exemplify 'soft actuator' technology that may be especially suitable for use in conjunction with human limbs. The electrochemical and mechanical properties of polypyrrole dodecyl benzene sulphonate actuator films have been studied with this application in mind. The results show that the time constants...... for the change of length and for the stiffness change are significantly different - the stiffness change being about 10 times faster. Both force measurements and Electrochemical Quartz Crystal Microbalance measurements indicate that the actuation process is complex and involves at least two different processes...

  5. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok

    2013-01-01

    IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

  6. A Parylene Bellows Electrochemical Actuator

    OpenAIRE

    Li, Po-Ying; Sheybani, Roya; Gutierrez, Christian A.; Kuo, Jonathan T. W.; Meng, Ellis

    2010-01-01

    We present the first electrochemical actuator with Parylene bellows for large-deflection operation. The bellows diaphragm was fabricated using a polyethylene-glycol-based sacrificial molding technique followed by coating in Parylene C. Bellows were mechanically characterized and integrated with a pair of interdigitated electrodes to form an electrochemical actuator that is suitable for low-power pumping of fluids. Pump performance (gas generation rate and pump efficiency) was optimized throug...

  7. Miniature Phase-Transistion Actuators

    OpenAIRE

    Klintberg, Lena

    2002-01-01

    Clearly, there is a need for simple, strong actuators capable of large strokes in miniaturized systems such as valves and optical shutters. The basis for this work is the microstructure technology with processing techniques adopted from the integrated circuit industry. In many cases alternative techniques have been developed to obtain features not achievable with conventional silicon technology. Techniques to fabricate thermally activated phase transition actuators capable of large strokes, a...

  8. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guido Belforte

    2014-05-01

    Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments

  9. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  10. Large Scale Magnetostrictive Valve Actuator

    Science.gov (United States)

    Richard, James A.; Holleman, Elizabeth; Eddleman, David

    2008-01-01

    Marshall Space Flight Center's Valves, Actuators and Ducts Design and Development Branch developed a large scale magnetostrictive valve actuator. The potential advantages of this technology are faster, more efficient valve actuators that consume less power and provide precise position control and deliver higher flow rates than conventional solenoid valves. Magnetostrictive materials change dimensions when a magnetic field is applied; this property is referred to as magnetostriction. Magnetostriction is caused by the alignment of the magnetic domains in the material s crystalline structure and the applied magnetic field lines. Typically, the material changes shape by elongating in the axial direction and constricting in the radial direction, resulting in no net change in volume. All hardware and testing is complete. This paper will discuss: the potential applications of the technology; overview of the as built actuator design; discuss problems that were uncovered during the development testing; review test data and evaluate weaknesses of the design; and discuss areas for improvement for future work. This actuator holds promises of a low power, high load, proportionally controlled actuator for valves requiring 440 to 1500 newtons load.

  11. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert

    2011-01-01

    in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new......This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies...

  12. Modular Actuators for Space Applications Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...

  13. More Electric Landing Gear Actuation Study

    OpenAIRE

    Li, Wei

    2009-01-01

    This report addresses the problem of landing gear actuation system design on more-electric aircraft (MEA). Firstly, information about more-electric aircraft and more-electric actuators was gathered and sorted. Current more-electric landing actuation system applications and researches were also summarized. Then several possible more-electric landing gear actuation concepts were identified. To evaluate these concepts, the case study method has been used. A concept aircraft “MR...

  14. Distributed structural control using multilayered piezoelectric actuators

    Science.gov (United States)

    Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov

    1990-01-01

    A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.

  15. Experimental identification of piezo actuator characteristic

    Directory of Open Access Journals (Sweden)

    Ľ. Miková

    2015-01-01

    Full Text Available This paper deals with piezoelectric material, which can be used as actuator for conversion of electrical energy to mechanical work. Test equipment has been developed for experimental testing of the piezoactuators. Piezoactivity of this actuator has non-linear characteristic. This type of actuator is used for in-pipe mechanism design.

  16. Carbon nanotube-polymer composite actuators

    Science.gov (United States)

    Gennett, Thomas; Raffaelle, Ryne P.; Landi, Brian J.; Heben, Michael J.

    2008-04-22

    The present invention discloses a carbon nanotube (SWNT)-polymer composite actuator and method to make such actuator. A series of uniform composites was prepared by dispersing purified single wall nanotubes with varying weight percents into a polymer matrix, followed by solution casting. The resulting nanotube-polymer composite was then successfully used to form a nanotube polymer actuator.

  17. Electrostatic actuators fabricated by surface micromachining techniques

    OpenAIRE

    Legtenberg, Rob

    1996-01-01

    This thesis deals with "electrostatic actuators fabricated by surface micromachining techniques". It presents fabrication techniques, design issues, modelling and performance characteristics of a number of electrostatic actuators. These actuators can be used in future micromechanical devices and systems which have applications such as micropositioning, microfluidics, microsurgery etc.

  18. Explosive micro-bubble actuator

    NARCIS (Netherlands)

    Broek, van den Dennis Micha

    2008-01-01

    Microactuators are key components in numerous microsystems, and in many applications strong and fast microactuators are required. The principles used to generate forces in the current actuators are not capable of fulfilling both requirements at the same time, so new principles have to be investigate

  19. Multilayer Piezoelectric Stack Actuator Characterization

    Science.gov (United States)

    Sherrit, Stewart; Jones, Christopher M.; Aldrich, Jack B.; Blodget, Chad; Bao, Xioaqi; Badescu, Mircea; Bar-Cohen, Yoseph

    2008-01-01

    Future NASA missions are increasingly seeking to use actuators for precision positioning to accuracies of the order of fractions of a nanometer. For this purpose, multilayer piezoelectric stacks are being considered as actuators for driving these precision mechanisms. In this study, sets of commercial PZT stacks were tested in various AC and DC conditions at both nominal and extreme temperatures and voltages. AC signal testing included impedance, capacitance and dielectric loss factor of each actuator as a function of the small-signal driving sinusoidal frequency, and the ambient temperature. DC signal testing includes leakage current and displacement as a function of the applied DC voltage. The applied DC voltage was increased to over eight times the manufacturers' specifications to investigate the correlation between leakage current and breakdown voltage. Resonance characterization as a function of temperature was done over a temperature range of -180C to +200C which generally exceeded the manufacturers' specifications. In order to study the lifetime performance of these stacks, five actuators from one manufacturer were driven by a 60volt, 2 kHz sine-wave for ten billion cycles. The tests were performed using a Lab-View controlled automated data acquisition system that monitored the waveform of the stack electrical current and voltage. The measurements included the displacement, impedance, capacitance and leakage current and the analysis of the experimental results will be presented.

  20. Compliant actuation of rehabilitation robots

    NARCIS (Netherlands)

    Vallery, Heike; Veneman, Jan; Asseldonk, van Edwin; Ekkelenkamp, Ralf; Buss, Martin; Kooij, van der Herman

    2008-01-01

    This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable sti

  1. Microprocessor controlled proof-mass actuator

    Science.gov (United States)

    Horner, Garnett C.

    1987-01-01

    The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.

  2. Dielectric elastomer actuators for facial expression

    Science.gov (United States)

    Wang, Yuzhe; Zhu, Jian

    2016-04-01

    Dielectric elastomer actuators have the advantage of mimicking the salient feature of life: movements in response to stimuli. In this paper we explore application of dielectric elastomer actuators to artificial muscles. These artificial muscles can mimic natural masseter to control jaw movements, which are key components in facial expressions especially during talking and singing activities. This paper investigates optimal design of the dielectric elastomer actuator. It is found that the actuator with embedded plastic fibers can avert electromechanical instability and can greatly improve its actuation. Two actuators are then installed in a robotic skull to drive jaw movements, mimicking the masseters in a human jaw. Experiments show that the maximum vertical displacement of the robotic jaw, driven by artificial muscles, is comparable to that of the natural human jaw during speech activities. Theoretical simulations are conducted to analyze the performance of the actuator, which is quantitatively consistent with the experimental observations.

  3. Novel applications of plasma actuators

    Science.gov (United States)

    Ozturk, Arzu Ceren

    The current study investigates the effectiveness of two different dielectric barrier discharge plasma actuator configurations, a 3-D annular geometry for use in micro thrusters and internal duct aerodynamics and a jet vectoring actuator that acts as a vortex generator and flow control device. The first configuration consists of a closed circumferential arrangement which yields a body force when a voltage difference is applied across the inner and outer electrodes separated by a dielectric. The primary flow is driven by this zero-net mass flux jet at the wall that then entrains fluid in the core of the duct. PIV experiments in both quiescent flow and freestream are conducted on tubes of different diameters while varying parameters such as the modulation frequency, duty cycle and tunnel speed. The values of the induced velocities increase with the forcing frequency and duty cycle although there is a peak value for the forcing frequency after which the velocity and thrust decrease for each thruster. The velocities and thrust increase as the inner diameter of the tubes are increased while the velocity profiles show a great difference with the (l/di) ratio; recirculation occurs after going below a critical value. Experiments in the wind tunnel illustrate that the jet exit characteristics significantly change upon actuation in freestream flow but the effect tends to diminish with increasing inner diameters and tunnel speeds. Using staged arrays of these thrusters result in higher velocities while operating at both in phase and out of phase. The jet vectoring configuration consists of a single embedded electrode separated from two exposed electrodes on either side by the dielectric. The embedded electrode is grounded while the exposed electrodes are driven with a high frequency high voltage input signal. PIV measurements of the actuator in a freestream show that vectoring the jet yields stronger vortices than a linear configuration and increasing the difference between

  4. Efficient Hybrid Actuation Using Solid-State Actuators

    Science.gov (United States)

    Leo, Donald J.; Cudney, Harley H.; Horner, Garnett (Technical Monitor)

    2001-01-01

    Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.

  5. Piezoelectric step-motion actuator

    Science.gov (United States)

    Mentesana; Charles P.

    2006-10-10

    A step-motion actuator using piezoelectric material to launch a flight mass which, in turn, actuates a drive pawl to progressively engage and drive a toothed wheel or rod to accomplish stepped motion. Thus, the piezoelectric material converts electrical energy into kinetic energy of the mass, and the drive pawl and toothed wheel or rod convert the kinetic energy of the mass into the desired rotary or linear stepped motion. A compression frame may be secured about the piezoelectric element and adapted to pre-compress the piezoelectric material so as to reduce tensile loads thereon. A return spring may be used to return the mass to its resting position against the compression frame or piezoelectric material following launch. Alternative embodiment are possible, including an alternative first embodiment wherein two masses are launched in substantially different directions, and an alternative second embodiment wherein the mass is eliminated in favor of the piezoelectric material launching itself.

  6. An Innovative Shape Memory Actuator

    Directory of Open Access Journals (Sweden)

    Cappellini Valter

    2016-01-01

    Full Text Available The work describes a NiTi linear actuator. This material is able to realize a contraction with heating produced through Joule effect. Then a cooling of the active device is realized with forced air. Finally the lengthening is realized with another active element. The particular structure of the geometry allows for an increment of reliability, because the electrical connections are mechanically stabilized and the active elements are compelled to avoid undesired electrical contacts through an insulated cylindrical core.

  7. Ferrofluid-Impregnated Paper Actuators

    OpenAIRE

    Ding, Zhenwen; Wei, Pinghung; Chitnis, Girish; Ziaie, Babak

    2011-01-01

    In this paper, we report on an inexpensive method of fabricating miniature magnetic actuators using ferrofluid-impregnated paper. Different types of papers (including soft tissue paper, cleanroom paper, Whatman-1 filter paper, printer paper, and newspaper) were loaded with oil-based ferrofluid, micromachined by a CO(2) laser and coated with a thin layer of parylene-C. The soaking capability of the different papers was investigated, with the soft tissue paper having the highest loading capacit...

  8. Electrical actuators applications and performance

    CERN Document Server

    De Fornel, Bernard

    2013-01-01

    This helpful resource covers a large range of information regarding electrical actuators. In particular, robustness, a very problematic issue, is fully explored in a dedicated chapter. The text also deals with he estimate of non-measurable mechanical variables by examining the estimate of load moment, then observation of the positioning of a command without mechanical sensor. Finally, it examines the conditions needed to measure variables and real implementation of numerical algorithms. This is a key working resource for electrical engineers.

  9. Improving actuator disk wake model

    International Nuclear Information System (INIS)

    The wind energy industry has traditionally relied on simple wake models for estimating Wind Turbine (WT) wake losses. Despite limitations, low requirements in terms of detailed rotor information makes their use feasible, unlike more complex models, such as Blade Element Method (BEM) or Actuator Line. Froude's Actuator Disk (AD) does not suffer the simpler model's limitation of prescribing the wake through a closed set of equations, while sharing with them the low rotor data requirements. On the other hand they require some form of parametrization to close the model and calculate total thrust acting on the flow. An Actuator Disk model was developed, using an iterative algorithm based on Froude's one-dimensional momentum theory to determine the WT's performance, proving to be successful in estimating the performance of both machines in undisturbed flow and in the wake of an upstream machines. Before Froude's AD limitations compared to more complex rotor models, load distributions emulating those of a BEM model were tested. The results show that little impact is obtained at 3 rotor diameters downstream and beyond, agreeing with common definition of a far-wake that starts at 1-2 diameters downstream, where rotor characteristics become negligible and atmospheric flow effects dominate

  10. ANALYSIS OF BEAMS WITH PIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    林启荣; 刘正兴; 王宗利

    2001-01-01

    Based on the two-dimensional constitutive relationships of the piezoelectric material, an analytical solution for an intelligent beam excited by a pair of piezoelectric actuators is derived. With the solution the force and moment generated by two piezoelectric actuators and a pair of piezoelectric actuator/sensor are obtained. Examples of a cantilever piezoelectric laminated beam or a simply supported piezoelectric laminated beam, applied with voltages, are given.

  11. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real......-time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed....

  12. High Reliability Cryogenic Piezoelectric Valve Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid valves are subject to harsh exposure and actuators to drive these valves require robust performance and high reliability. DSM's piezoelectric...

  13. A porous actuator for an Isfet-based coulometric sensor-actuator system

    NARCIS (Netherlands)

    Luo, J.; Olthuis, W.; Bergveld, P.; Linden, van der W.E.; Bos, M.

    1991-01-01

    The previously developed prototype ISFET (ion-sensitive field effect transistor)-based coulometric sensor-actuator system suffers from delay in response due to the nonzero distance between the sensor and actuator. The authors describe a novel configuration of a sensor-actuator device which employs a

  14. Microfabricated electroactive carbon nanotube actuators

    Science.gov (United States)

    Ahluwalia, Arti; Baughman, Ray H.; De Rossi, Danilo; Mazzoldi, Alberto; Tesconi, Mario; Tognetti, Alessandro; Vozzi, Giovanni

    2001-07-01

    A variety of microfabrication techniques have been developed at the University of Pisa. They are based either on pressure or piston actuated microsyringes or modified ink-jet printers. This work present the results of a study aimed at fabricating carbon nanotube (NT) actuators using micro-syringes. In order to prevent the nanotubes from aggregating into clumps, they were enclosed in a partially cross-linked polyvinylalcohol - polyallylamine matrix. After sonication the solution remained homogenously dispersed for about 40 minutes, which was sufficient time for deposition. Small strips of NT, about 5 mm across and 15 mm long were deposited. Following deposition, the films were baked at 80 degree(s)C and their thickness, impedance and mechanical resistance measured. The results indicate that 50 minutes of baking time is sufficient to give a constant resistivity of 1.12 x 10-2 (Omega) m per layer similar to a typical semiconductor, and each layer has a thickness of about 6 micrometers .

  15. Optimization of Actuating Origami Networks

    Science.gov (United States)

    Buskohl, Philip; Fuchi, Kazuko; Bazzan, Giorgio; Joo, James; Gregory, Reich; Vaia, Richard

    2015-03-01

    Origami structures morph between 2D and 3D conformations along predetermined fold lines that efficiently program the form, function and mobility of the structure. By leveraging design concepts from action origami, a subset of origami art focused on kinematic mechanisms, reversible folding patterns for applications such as solar array packaging, tunable antennae, and deployable sensing platforms may be designed. However, the enormity of the design space and the need to identify the requisite actuation forces within the structure places a severe limitation on design strategies based on intuition and geometry alone. The present work proposes a topology optimization method, using truss and frame element analysis, to distribute foldline mechanical properties within a reference crease pattern. Known actuating patterns are placed within a reference grid and the optimizer adjusts the fold stiffness of the network to optimally connect them. Design objectives may include a target motion, stress level, or mechanical energy distribution. Results include the validation of known action origami structures and their optimal connectivity within a larger network. This design suite offers an important step toward systematic incorporation of origami design concepts into new, novel and reconfigurable engineering devices. This research is supported under the Air Force Office of Scientific Research (AFOSR) funding, LRIR 13RQ02COR.

  16. Artificial Cilia : Mimicking Nature Through Magnetic Actuation

    NARCIS (Netherlands)

    Khaderi, S. N.; Baltussen, M. G. H. M.; Anderson, P. D.; Ioan, D.; den Toonder, J.M.J.; Onck, P. R.; Murthy, SK; Khan, SA; Ugaz, VM; Zeringue, HC

    2009-01-01

    Manipulation of bio-fluids in microchannels faces many challenges in the development of lab-on-a-chip devices. We propose magnetically actuated artificial cilia which can propel fluids in microchannels. These cilia are magnetic films which can be actuated by an external magnetic field, leading to an

  17. Sensors and actuators based on SOI materials

    Science.gov (United States)

    Sanz-Velasco, Anke; Nafari, Alexandra; Rödjegård, Henrik; Bring, Martin; Hedsten, Karin; Enoksson, Peter; Bengtsson, Stefan

    2006-05-01

    Examples of using SOI materials for formation of novel sensor and actuator structures at Chalmers University of Technology are given. Using SOI material gives advantages in formation of sensor and actuator structures, such as a nanoindentation force sensor, a three-axis accelerometer, a miniaturized pinball game and integration of diffractive optical elements onto silicon.

  18. Conducting Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (...

  19. Conjugated Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (1...

  20. Integrated piezoelectric actuators in deep drawing tools

    Science.gov (United States)

    Neugebauer, R.; Mainda, P.; Drossel, W.-G.; Kerschner, M.; Wolf, K.

    2011-04-01

    The production of car body panels are defective in succession of process fluctuations. Thus the produced car body panel can be precise or damaged. To reduce the error rate, an intelligent deep drawing tool was developed at the Fraunhofer Institute for Machine Tools and Forming Technology IWU in cooperation with Audi and Volkswagen. Mechatronic components in a closed-loop control is the main differentiating factor between an intelligent and a conventional deep drawing tool. In correlation with sensors for process monitoring, the intelligent tool consists of piezoelectric actuators to actuate the deep drawing process. By enabling the usage of sensors and actuators at the die, the forming tool transform to a smart structure. The interface between sensors and actuators will be realized with a closed-loop control. The content of this research will present the experimental results with the piezoelectric actuator. For the analysis a production-oriented forming tool with all automotive requirements were used. The disposed actuators are monolithic multilayer actuators of the piezo injector system. In order to achieve required force, the actuators are combined in a cluster. The cluster is redundant and economical. In addition to the detailed assembly structures, this research will highlight intensive analysis with the intelligent deep drawing tool.

  1. Numerical investigation of aerodynamic flow actuation produced by surface plasma actuator on 2D oscillating airfoil

    Institute of Scientific and Technical Information of China (English)

    Minh Khang Phan; Jichul Shin

    2016-01-01

    Numerical simulation of unsteady flow control over an oscillating NACA0012 airfoil is investigated. Flow actuation of a turbulent flow over the airfoil is provided by low current DC sur-face glow discharge plasma actuator which is analytically modeled as an ion pressure force pro-duced in the cathode sheath region. The modeled plasma actuator has an induced pressure force of about 2 kPa under a typical experiment condition and is placed on the airfoil surface at 0%chord length and/or at 10%chord length. The plasma actuator at deep-stall angles (from 5° to 25°) is able to slightly delay a dynamic stall and to weaken a pressure fluctuation in down-stroke motion. As a result, the wake region is reduced. The actuation effect varies with different plasma pulse frequen-cies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70%by a selec-tive operation of the plasma actuator with various plasma frequencies and locations as the angle of attack changes. Active flow control which is a key advantageous feature of the plasma actuator reveals that a dynamic stall phenomenon can be controlled by the surface plasma actuator with less power consumption if a careful control scheme of the plasma actuator is employed with the opti-mized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.

  2. Numerical investigation of aerodynamic flow actuation produced by surface plasma actuator on 2D oscillating airfoil

    Directory of Open Access Journals (Sweden)

    Minh Khang Phan

    2016-08-01

    Full Text Available Numerical simulation of unsteady flow control over an oscillating NACA0012 airfoil is investigated. Flow actuation of a turbulent flow over the airfoil is provided by low current DC surface glow discharge plasma actuator which is analytically modeled as an ion pressure force produced in the cathode sheath region. The modeled plasma actuator has an induced pressure force of about 2 kPa under a typical experiment condition and is placed on the airfoil surface at 0% chord length and/or at 10% chord length. The plasma actuator at deep-stall angles (from 5° to 25° is able to slightly delay a dynamic stall and to weaken a pressure fluctuation in down-stroke motion. As a result, the wake region is reduced. The actuation effect varies with different plasma pulse frequencies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70% by a selective operation of the plasma actuator with various plasma frequencies and locations as the angle of attack changes. Active flow control which is a key advantageous feature of the plasma actuator reveals that a dynamic stall phenomenon can be controlled by the surface plasma actuator with less power consumption if a careful control scheme of the plasma actuator is employed with the optimized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.

  3. Advanced Actuator Concepts for High Precision Deformable Mirrors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — TRS Technologies proposes to develop a variety of single crystal actuators for adaptive optics deformable mirrors. Single crystal piezoelectric actuators are...

  4. Genetic Algorithm Approaches for Actuator Placement

    Science.gov (United States)

    Crossley, William A.

    2000-01-01

    This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.

  5. FABRICATION AND PROPERTIES OF ANTIFERROELECTRIC RAINBOW ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    A new type of large-displacement actuator called reduced and internally biased oxide wafer (RAINBOW) is fabricated by chemical reduction of Pb(Sn, Zr, Ti)O3(PSZT) antiferroelectric ceramics and its properties are investigated. It is found that PSZT is easily reduced and the optimal conditions for producing RAINBOW samples are determined to be 870 ℃ for 2~3 h. The antiferroelectricsferroelectrics phase transitions occur at lower field strength in RAINBOW actuators compared with normal PSZT actuators. Large axial displacements are also obtained from the RAINBOW actuator by application of electric fields exceeding the phase switching level. However, the field-induced displacement of the RAINBOW actuator is dependent on the manner of applying load on the samples.

  6. Microfabrication of stacked dielectric elastomer actuator fibers

    Science.gov (United States)

    Corbaci, Mert; Walter, Wayne; Lamkin-Kennard, Kathleen

    2016-04-01

    Dielectric elastomer actuators (DEA) are one of the best candidate materials for next generation of robotic actuators, soft sensors and artificial muscles due to their fast response, mechanical robustness and compliance. However, high voltage requirements of DEAs have impeded their potential to become widely used in such applications. In this study, we propose a method for fabrication of silicon based multilayer DEA fibers composed of microlevel dielectric layers to improve the actuation ratios of DEAs at lower voltages. A multi-walled carbon nanotube - polydimethylsiloxane (MWCNT/PDMS) composite was used to fabricate mechanically compliant, conductive parallel plates and electrode connections for the DEA actuators. Active surface area and layer thickness were varied to study the effects of these parameters on actuation ratio as a function of applied voltage. Different structures were fabricated to assess the flexibility of the fabrication method for specific user-end applications.

  7. Characterization of kink actuators as compared to traditional chevron shaped Bent-Beam electrothermal actuators

    KAUST Repository

    Rawashdeh, E.

    2012-07-06

    This paper compares the design and performance of kink actuators, a modified version of the bent-beam thermal actuator, to the standard chevron-shaped designs. A variety of kink and chevron actuator designs were fabricated from polysilicon. While the actuators were electrically probed, these designs were tested using a probe station connected to a National Instruments (NI) controller that uses LabVIEW to extract the displacement results via image processing. The displacement results were then used to validate the thermal-electric-structural simulations produced by COMSOL. These results, in turn, were used to extract the stiffness for both actuator types. The data extracted show that chevron actuators can have larger stiffness values with increasing offsets, but at the cost of lower amplification factors. In contrast, kink actuators showed a constant stiffness value equivalent to the chevron actuator with the highest amplification factor. The kink actuator also had larger amplification factors than chevrons at all designs tested. Therefore, kink actuators are capable of longer throws at lower power levels than the standard chevron designs.

  8. Thermostatic Valves Containing Silicone-Oil Actuators

    Science.gov (United States)

    Bhandari, Pradeep; Birur, Gajanana C.; Bame, David P.; Karlmann, Paul B.; Prina, Mauro; Young, William; Fisher, Richard

    2009-01-01

    Flow-splitting and flow-mixing thermally actuated spool valves have been developed for controlling flows of a heat-transfer fluid in a temperature-regulation system aboard the Mars Science Laboratory (MSL) rover. Valves like these could also be useful in terrestrial temperature-regulation systems, including automobile air-conditioning systems and general refrigeration systems. These valves are required to provide smoother actuation over a wider temperature range than the flow-splitting, thermally actuated spool valves used in the Mars Explorer Rover (MER). Also, whereas the MER valves are unstable (tending to oscillate) in certain transition temperature ranges, these valves are required not to oscillate. The MER valves are actuated by thermal expansion of a wax against spring-loaded piston rods (as in common automotive thermostats). The MSL valves contain similar actuators that utilize thermal expansion of a silicone oil, because silicone-oil actuators were found to afford greater and more nearly linear displacements, needed for smoother actuation, over the required wider temperature range. The MSL valves also feature improved spool designs that reflect greater understanding of fluid dynamics, consideration of pressure drops in valves, and a requirement for balancing of pressures in different flow branches.

  9. Elastomeric actuator devices for magnetic resonance imaging

    Science.gov (United States)

    Dubowsky, Steven (Inventor); Hafez, Moustapha (Inventor); Jolesz, Ferenc A. (Inventor); Kacher, Daniel F. (Inventor); Lichter, Matthew (Inventor); Weiss, Peter (Inventor); Wingert, Andreas (Inventor)

    2008-01-01

    The present invention is directed to devices and systems used in magnetic imaging environments that include an actuator device having an elastomeric dielectric film with at least two electrodes, and a frame attached to the actuator device. The frame can have a plurality of configurations including, such as, for example, at least two members that can be, but not limited to, curved beams, rods, plates, or parallel beams. These rigid members can be coupled to flexible members such as, for example, links wherein the frame provides an elastic restoring force. The frame preferably provides a linear actuation force characteristic over a displacement range. The linear actuation force characteristic is defined as .+-.20% and preferably 10% over a displacement range. The actuator further includes a passive element disposed between the flexible members to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. The preferred embodiment actuator includes one or more layers of the elastomeric film integrated into the frame. The elastomeric film can be made of many elastomeric materials such as, for example, but not limited to, acrylic, silicone and latex.

  10. Bluff Body Flow Control Using Plasma Actuators

    Science.gov (United States)

    Thomas, Flint

    2005-11-01

    In this study, the use of single dielectric barrier discharge plasma actuators for the control of bluff body flow separation is investigated. In particular, surface mounted plasma actuators are used to reduce both drag and unsteady vortex shedding from circular cylinders in cross-flow. It is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. Large reductions in vortex shedding and drag are demonstrated for Reynolds numbers ˜ 10^410^5. Both steady and unsteady plasma-induced surface blowing is explored. Results are presented from experiments involving both two and four surface mounted actuators.

  11. Refreshable Braille displays using EAP actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2010-04-01

    Refreshable Braille can help visually impaired persons benefit from the growing advances in computer technology. The development of such displays in a full screen form is a great challenge due to the need to pack many actuators in small area without interferences. In recent years, various displays using actuators such as piezoelectric stacks have become available in commercial form but most of them are limited to one line Braille code. Researchers in the field of electroactive polymers (EAP) investigated methods of using these materials to form full screen displays. This manuscript reviews the state of the art of producing refreshable Braille displays using EAP-based actuators.

  12. Diagnostics for characterisation of plasma actuators

    Science.gov (United States)

    Kotsonis, Marios

    2015-09-01

    The popularity of plasma actuators as flow control devices has sparked a flurry of diagnostic efforts towards their characterisation. This review article presents an overview of experimental investigations employing diagnostic techniques specifically aimed at AC dielectric barrier discharge, DC corona and nanosecond pulse plasma actuators. Mechanical, thermal and electrical characterisation techniques are treated. Various techniques for the measurement of induced velocity, body force, heating effects, voltage, current, power and discharge morphology are presented and common issues and challenges are described. The final part of this report addresses the effect of ambient conditions on the performance of plasma actuators.

  13. Selecting Actuator Configuration for a Benson Boiler

    DEFF Research Database (Denmark)

    Kragelund, Martin Nygaard; Leth, John-Josef; Wisniewski, Rafal

    2009-01-01

    This paper addresses the problem of an optimal actuator configuration in an economic perspective. The objective is to minimize the economical cost of operating a given plant. Functionals encapsulating information of the business objectives given the different actuators has been established...... with particular focus on a boiler in a power plant operated by DONG Energy - a Danish energy supplier. The problem has been reformulated using mathematic notions from economics. The selection of actuator configuration has been limited to the fuel system which in the considered plant consists of three different...

  14. High output paraffin actuators: Utilization in aerospace mechanisms

    Science.gov (United States)

    Tibbitts, Scott

    1988-01-01

    High Output Paraffin (HOP) thermal actuators were developed to provide an alternative to conventional aerospace actuators: HOP actuators directly convert temperature changes to useful mechanical work. When fabricated with internal resistance heating elements, they provide an electric linear motor. For applications in which slower response times are acceptable or preferred, HOP actuators have distinct advantages over conventional approaches.

  15. Nature-inspired microfluidic manipulation using magnetic actuators

    NARCIS (Netherlands)

    Khaderi, S. N.; Ioan, D.; den Toonder, J.M.J.; Onck, P. R.; LaVan, D.; Spearing, M.; Vengallatore, S.; DaSilva, M.

    2008-01-01

    Magnetically actuated micro-actuators are proposed to propel and manipulate fluid in micro-channels. As the fluid flows at low Reynolds number in such systems, the actuator should move in an asymmetric manner. The proposed actuators are polymer films with embedded magnetic particles, which are actua

  16. NICKEL-PLATED THERMAL ACTUATOR WITH ELECTROSTATIC LATCH

    OpenAIRE

    Driesen, Maarten; Ceyssens, Frederik; Decoster, Jeroen; Puers, Robert

    2008-01-01

    An innovative parallel gap actuator is developed and demonstrated based on a two-layer nickel plating process. It combines thermal actuation for large stroke movement with electrostatic actuation for the latch. Moreover, the electrostatic actuation is capable to hold this position with very low power requirements.

  17. Energy shaping for coordinating internally actuated vehicles

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    This paper considers the stable coordination problem of two vehicles equipping with internal moving mass actuators.The coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motivated and avoids cancelation or domination of nonlinearities.

  18. Actuator grouping optimization on flexible space reflectors

    Science.gov (United States)

    Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo

    2011-03-01

    With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required accuracy, precision surface control is needed on these lightweight reflectors. While studies have shown that domain control of space reflectors via Polyvinylidene Fluoride (PVDF) actuators is promising, the challenge is to realistically control a large number of distributed actuators with limited number of power supplies. In this research, a new En Mass Elimination method is synthesized to determine the optimal grouping of actuators when the actuator number exceeds the number of power supplies available. An analytical model is developed and the methodology is demonstrated numerically through system simulation on the derived model.

  19. Feasibility of transparent flexible ultrasonic haptic actuator

    Science.gov (United States)

    Akther, Asma; Kafy, Abdullahil; Kim, Hyun Chan; Kim, Jaehwan

    2016-04-01

    Ultrasonic haptics actuator is a device that can create a haptic feedback to user's hand. The modulation of ultrasonic frequency can give different textures to the users. In this study, a feasibility of the ultrasonic haptic actuator made on a flexible piezoelectric substrate is investigated. As the piezoelectric substrate helps to propagate flexural waves, a pair of interdigital transducer (IDT) with reflectors can produce standing waves, which can increase the vibrational displacement of the actuator. A pair of IDT pattern was fabricated on a piezoelectric polymer substrate. A finite element analysis is at first performed to design the actuator. A sinusoidal excitation voltage is applied on IDT electrodes at ultrasonic frequencies and the displacement waveforms are found. The displacement waveforms clearly represent how ultrasonic waves propagate through the piezoelectric substrate.

  20. High Reliability Cryogenic Piezoelectric Valve Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Piezoelectric actuators constructed with the "smart material" PZT offer many potential advantages for use in NASA cryo-valve missions relative to conventional...

  1. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, David Schramm, Paul Rasmussen, Kevin Mullaly, Ras Labs, LLC, Intelligent Materials for Prosthetics & Automation, Lewis D. Meixler, Daniel Pearlman and Alice Kirk

    2011-05-23

    Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.

  2. Nylon-muscle-actuated robotic finger

    Science.gov (United States)

    Wu, Lianjun; Jung de Andrade, Monica; Rome, Richard S.; Haines, Carter; Lima, Marcio D.; Baughman, Ray H.; Tadesse, Yonas

    2015-04-01

    This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.

  3. Mirrors Containing Biomimetic Shape-Control Actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph; Mouroulis, Pantazis; Bao, Xiaoqi; Sherrit, Stewart

    2003-01-01

    Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call

  4. Design and application of shape memory actuators

    Science.gov (United States)

    Mertmann, M.; Vergani, G.

    2008-05-01

    The use of shape memory alloys in actuators allows the development of robust, simple and lightweight elements for application in a multitude of different industries. Over the years, the intermetallic compound Nickel-Titanium (NiTi or Nitinol) together with its ternary and quaternary derivates has gained general acceptance as a standard alloy. Even though as many as 99% of all shape memory actuator applications make use of Nitinol there are certain properties of this alloy system which require further research in order to find improvements and new markets: • Lack of higher transformation temperatures in the available alloys in order to open the field of automotive applications (Mf temperature > 80 °C) • Non-linearity in the electrical resistivity in order to improve the controllability of the actuator, • Wide hysteresis in the temperature-vs.-strain behaviour, which has a signi-ficant effect on both, the dynamics of the actuator and its controllability. Hence, there is a constant strive in the field towards an improvement of the related properties. However, these improvements are not always just alloy composition related. There is also a tremendous potential in the thermomechanical treatment of the material and in the design of the actuator. Significant improvement steps are already possible if the usage of the existent materials is optimized for the projected application and if the actuator system is designed in the most efficient way. This paper provides an overview about existent designs, applications and alloys for use in actuators, as well as examples of new shape memory actuator application with improved performance. It also gives an overview about general design rules and reflects about the strengths of the material and the related opportunities for its application.

  5. Position Control of Single Pneumatic Muscle Actuator

    Institute of Scientific and Technical Information of China (English)

    FAN Wei; PENG Guang-zheng; NING Ru-xin

    2005-01-01

    The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18N variable load plus about 36N fixed load. It is relatively precise and robust.

  6. Sensors and actuators engineering system instrumentation

    CERN Document Server

    de Silva, Clarence W

    2015-01-01

    An engineering system contains multiple components that interconnect to perform a specific task. Starting from basic fundamentals through to advanced applications, Sensors and Actuators: Engineering System Instrumentation, Second Edition thoroughly explains the inner workings of an engineering system. The text first provides introductory material-practical procedures and applications in the beginning-and then methodically integrates more advanced techniques, theory, and concepts throughout the book. Emphasizing sensors, transducers, and actuators, the author discusses important aspects of comp

  7. Floppy swimming: Viscous locomotion of actuated elastica

    OpenAIRE

    Lauga, Eric

    2006-01-01

    Actuating periodically an elastic filament in a viscous liquid generally breaks the constraints of Purcell's scallop theorem, resulting in the generation of a net propulsive force. This observation suggests a method to design simple swimming devices - which we call "elastic swimmers" - where the actuation mechanism is embedded in a solid body and the resulting swimmer is free to move. In this paper, we study theoretically the kinematics of elastic swimming. After discussing the basic physical...

  8. Model and control of tendon actuated robots

    OpenAIRE

    Palli, Gianluca

    2007-01-01

    The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brie...

  9. Linear peristaltic pump based on electromagnetic actuators

    Directory of Open Access Journals (Sweden)

    Maddoui Lotfi

    2014-01-01

    Full Text Available In this paper a study and design of a linear peristaltic pump are presented. A set of electromagnetic (solenoid actuators is used as the active tools to drag the liquid by crushing an elastic tube. The pump consists of six serially-connected electromagnetic actuators controlled via an electronic board. This may be considered as a simulated peristalsis action of intestines. The dynamic performances of the pump are investigated analytically and experimentally.

  10. Electrically actuated multiple store launcher

    Science.gov (United States)

    Marshall, Frank P.; Travor, Bruce W.

    1991-12-01

    This invention comprises a multi-store, electrical pulse initiated launcher that fits into, and is electrically connected with a transporting vehicle and that contains sequentially stacked assemblies. An electrical pulse from the transporting vehicle causes a resistor with the least value to transfer the electric sufficient gas pressure to force the store out of the launcher. The present invention discloses an electrically-actuated, multi-store dispenser wherein an initial electrical charge ignites gas cartridges causing sequential launching of stores from their tandem position inside a launch container. In some environments, it is desirable to dispense multiple stores from a launch vehicle, for instance sonobuoys, in dense patterns. Due to physical limitations of space in the dispensing vehicle, an effort was made to miniaturize the active components inside the store and therefore reduce the overall outer dimensions thereof. Once the size of the store was reduced, in order to meet the demands of the denser patterns, the inside of the individual launch containers were modified to allow each to hold and dispense more than one store. This new type of launch container, in addition to maintaining the size requirement dictated by the transporting vehicle, is operated by the vehicle's electrical system.

  11. Lifetime of piezoceramic multilayer actuators : interplay of material properties and actuator design

    NARCIS (Netherlands)

    Ende, D.A. van den; Bos, B.; Groen, W.A.; Dortmans, L.M.J.G.

    2009-01-01

    We report an investigation into factors limiting the functional lifetime of multilayer piezoceramic actuators. The study consists of a combination of lifetime experiments by means of an accelerated lifetime test, inspection of the actuator microstructure at different stages of the accelerated lifeti

  12. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation.

    Science.gov (United States)

    Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman

    2011-01-01

    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654

  13. Design and Fabrication of the Large Thrust Force Piezoelectric Actuator

    Directory of Open Access Journals (Sweden)

    Shyang-Jye Chang

    2013-01-01

    Full Text Available This paper presents a novel piezoelectric actuator containing double pushers. By using finite element analysis software, this study simulated the vibration mode and amplitude of piezoelectric actuators. The Taguchi method was used to design the parameters of piezoelectric actuators including length, width, height, and electrodes setting. This paper also presents a discussion regarding the influence that the design parameters had on the actuator amplitudes. Based on optimal design parameters, a novel piezoelectric actuator containing double pushers is produced and some thrust tests are also carried out. From the experiment results, the piezoelectric actuator containing double pushers can provide a greater thrust force than that of traditional actuators containing a single pusher as the preload is greater. Comparing with the traditional actuators, the thrust force of new actuator can be increased by 48% with the double preload.

  14. Design of an innovative magnetostrictive patch actuator

    Science.gov (United States)

    Cinquemani, S.; Giberti, H.

    2015-04-01

    Magnetostrictive actuators can be profitably used to reduce vibration in structures. However, this technology has been exploited only to develop inertial actuators, while patches actuators have not been ever used in practice. Patches actuators consist on a layer of magnetostrictive material, which has to be stuck to the surface of the vibrating structure, and on a coil surrounding the layer itself. However, the presence of the winding severely limits the use of such devices. As a matter of fact, the scientific literature reports only theoretical uses of such actuators, but, in practice it does not seem they were ever used. This paper presents an innovative solution to improve the structure of the actuator patches, allowing their use in several practical applications. The principle of operation of these devices is rather simple. The actuator patch is able to generate a local deformation of the surface of the vibrating structure so as to introduce an equivalent damping that dissipates the kinetic energy associated to the vibration. This deformation is related to the behavior of the magnetostrictive material immersed in a variable magnetic field generated by the a variable current flowing in the winding. Contrary to what suggested in the theoretical literature, the designed device has the advantage of generating the variable magnetic field no longer in close proximity of the material, but in a different area, thus allowing a better coupling. The magnetic field is then conveyed through a suitable ferromagnetic structure to the magnetostrictive material. The device has been designed and simulated through FEA. Results confirm that the new configuration can easily overcome all the limits of traditional devices.

  15. Position Sensor Integral with a Linear Actuator

    Science.gov (United States)

    Howard, David E.; Alhorn, Dean C.

    2004-01-01

    A noncontact position sensor has been designed for use with a specific two-dimensional linear electromagnetic actuator. To minimize the bulk and weight added by the sensor, the sensor has been made an integral part of the actuator: that is to say, parts of the actuator structure and circuitry are used for sensing as well as for varying position. The actuator (see Figure 1) includes a C-shaped permanent magnet and an armature that is approximately centered in the magnet gap. The intended function of the actuator is to cause the permanent magnet to translate to, and/or remain at, commanded x and y coordinates, relative to the armature. In addition, some incidental relative motion along the z axis is tolerated but not controlled. The sensor is required to measure the x and y displacements from a nominal central position and to be relatively insensitive to z displacement. The armature contains two sets of electromagnet windings oriented perpendicularly to each other and electrically excited in such a manner as to generate forces in the x,y plane to produce the required motion. Small sensor excitation coils are mounted on the pole tips of the permanent magnet. These coils are excited with a sine wave at a frequency of 20 kHz. This excitation is transformer-coupled to the armature windings. The geometric arrangement of the excitation coils and armature windings is such that the amplitudes of the 20-kHz voltages induced in the armature windings vary nearly linearly with x and y displacements and do not vary significantly with small z displacements. Because the frequency of 20 kHz is much greater than the maximum frequency characteristic of the actuation signals applied to the armature windings, there is no appreciable interference between actuator and sensor functions of the armature windings.

  16. Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators

    Science.gov (United States)

    Nguyen, Quang Sang; Heo, Seok; Park, Hoon Cheol; Goo, Nam Seo; Byun, Doyoung

    2009-03-01

    The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.

  17. Experimental investigation of resonant MEMS switch with ac actuation

    Science.gov (United States)

    Pal, Jitendra; Zhu, Yong; Wang, Boyi; Lu, Junwei; Khan, Fahimullah; Viet Dao, Dzung; Wang, Yifan

    2016-06-01

    In this letter, modeling, analysis, and experimental investigation for a resonant MEMS switch are presented. The resonant switch harnesses its mechanical resonance to lower the required actuation voltage by a substantial factor over the switch with static actuation. With alternating actuation voltage at its mechanical resonance frequency of 6.6 kHz, the average capacitance is tuned by changing the gap between fixed and movable electrodes. Based on the proposed actuation method, the device offers 57.44% lower actuation voltage compared with the switch with static actuation.

  18. Evolutionary flight and enabling smart actuator devices

    Science.gov (United States)

    Manzo, Justin; Garcia, Ephrahim

    2007-04-01

    Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.

  19. Stability analysis of dielectric elastomer film actuator

    Institute of Scientific and Technical Information of China (English)

    LIU YanJu; LIU LiWu; SUN ShouHua; ZHANG Zhen; LENG JinSong

    2009-01-01

    Dielectric elastomer (DE) is the most promising electroactive polymer material for smart actuators. When a piece of DE film is sandwiched between two compliant electrodes with a high electric field, due to the electrostatic force between the two electrodes, the film expands in-plane and contracts out-of-plane so that its thickness becomes thinner. The thinner thickness results in a higher electric field which inversely squeezes the film again. When the electric field exceeds the critical value, the dielectric field breaks down and the actuator becomes invalid. An elastic strain energy function with two material constants is used to analyze the stability of the dielectric elastomer actuator based on the nonlinear electromechanical field theory. The result shows that the actuator improves its stability as the ratio k of the material constants increases, which can be applied to design of actuators. Finally, this method is extended to study the stability of dielectric elastomers with elastic strain energy functions containing three and more material constants.

  20. Stability analysis of dielectric elastomer film actuator

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Dielectric elastomer (DE) is the most promising electroactive polymer material for smart actuators. When a piece of DE film is sandwiched between two compliant electrodes with a high electric field,due to the electrostatic force between the two electrodes,the film expands in-plane and contracts out-of-plane so that its thickness becomes thinner. The thinner thickness results in a higher electric field which inversely squeezes the film again. When the electric field exceeds the critical value,the dielectric field breaks down and the actuator becomes invalid. An elastic strain energy function with two material constants is used to analyze the stability of the dielectric elastomer actuator based on the nonlinear electromechanical field theory. The result shows that the actuator improves its stability as the ratio k of the material constants increases,which can be applied to design of actuators. Finally,this method is extended to study the stability of dielectric elastomers with elastic strain energy functions containing three and more material constants.

  1. A wireless actuating drug delivery system

    Science.gov (United States)

    Jo, Won-Jun; Baek, Seung-Ki; Park, Jung-Hwan

    2015-04-01

    A wireless actuating drug delivery system was devised. The system is based on induction heating for drug delivery. In this study, thermally generated nitrogen gas produced by induction heating of azobisisobutyronitrile (AIBN) was utilized for pressure-driven release of the drug. The delivery device consists of an actuator chamber, a drug reservoir, and a microchannel. A semicircular copper disc (5 and 6 mm in diameter and 100 µm thick), and thermal conductive tape were integrated as the heating element in the actuator chamber. The final device was 2.7 mm thick. 28 µl of drug solution were placed in the reservoir and the device released the drug quickly at the rate of 6 µl s-1 by induction heating at 160 µT of magnetic intensity. The entire drug solution was released and dispersed after subcutaneous implantation under identical experimental condition. This study demonstrates that the device was simply prepared and drug delivery could be achieved by wireless actuation of a thin, pressure-driven actuator.

  2. A wireless actuating drug delivery system

    International Nuclear Information System (INIS)

    A wireless actuating drug delivery system was devised. The system is based on induction heating for drug delivery. In this study, thermally generated nitrogen gas produced by induction heating of azobisisobutyronitrile (AIBN) was utilized for pressure-driven release of the drug. The delivery device consists of an actuator chamber, a drug reservoir, and a microchannel. A semicircular copper disc (5 and 6 mm in diameter and 100 µm thick), and thermal conductive tape were integrated as the heating element in the actuator chamber. The final device was 2.7 mm thick. 28 µl of drug solution were placed in the reservoir and the device released the drug quickly at the rate of 6 µl s−1 by induction heating at 160 µT of magnetic intensity. The entire drug solution was released and dispersed after subcutaneous implantation under identical experimental condition. This study demonstrates that the device was simply prepared and drug delivery could be achieved by wireless actuation of a thin, pressure-driven actuator. (paper)

  3. Interfacing dielectric elastomer actuators with liquids

    Science.gov (United States)

    Poulin, Alexandre; Maffli, Luc; Rosset, Samuel; Shea, Herbert

    2015-04-01

    Methods and materials for liquid encapsulation in thin (19 μm) silicone membranes are presented in this work. A set of 12 liquids including solvents, oils, silicone pre-polymers and one ionic liquid are experimentally tested. We show that all selected liquids are chemically inert to silicone and that vapor pressure is the key parameter for stable encapsulation. It is demonstrated that encapsulated volume of silicone pre-polymers and ionic liquids can stay stable for more than 1 month. The actuation of dielectric elastomer actuators (DEAs) in conductive liquids is also investigated. An analysis of the equivalent electrical circuits of immersed DEAs shows that non-overlapping regions of the electrodes should be minimized. It also provides guidelines to determine when the electrodes should be passivated. The effects of immersion in a conductive liquid are assessed by measuring the actuation strain and capacitance over periodic actuation. The experimental results show no sign of liquid-induced degradation over more than 45k actuation cycles.

  4. Curved Piezoelectric Actuators for Stretching Optical Fibers

    Science.gov (United States)

    Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.

    2008-01-01

    Assemblies containing curved piezoceramic fiber composite actuators have been invented as means of stretching optical fibers by amounts that depend on applied drive voltages. Piezoceramic fiber composite actuators are conventionally manufactured as sheets or ribbons that are flat and flexible, but can be made curved to obtain load-carrying ability and displacement greater than those obtainable from the flat versions. In the primary embodiment of this invention, piezoceramic fibers are oriented parallel to the direction of longitudinal displacement of the actuators so that application of drive voltage causes the actuator to flatten, producing maximum motion. Actuator motion can be transmitted to the optical fiber by use of hinges and clamp blocks. In the original application of this invention, the optical fiber contains a Bragg grating and the purpose of the controlled stretching of the fiber is to tune the grating as part of a small, lightweight, mode-hop-free, rapidly tunable laser for demodulating strain in Bragg-grating strain-measurement optical fibers attached to structures. The invention could also be used to apply controllable tensile force or displacement to an object other than an optical fiber.

  5. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Science.gov (United States)

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  6. Ionoprinted Multi-Responsive Hydrogel Actuators

    Directory of Open Access Journals (Sweden)

    Daniel Morales

    2016-05-01

    Full Text Available We report multi-responsive and double-folding bilayer hydrogel sheet actuators, whose directional bending response is tuned by modulating the solvent quality and temperature and where locally crosslinked regions, induced by ionoprinting, enable the actuators to invert their bending axis. The sheets are made multi-responsive by combining two stimuli responsive gels that incur opposing and complementary swelling and shrinking responses to the same stimulus. The lower critical solution temperature (LCST can be tuned to specific temperatures depending on the EtOH concentration, enabling the actuators to change direction isothermally. Higher EtOH concentrations cause upper critical solution temperature (UCST behavior in the poly(N-isopropylacrylamide (pNIPAAm gel networks, which can induce an amplifying effect during bilayer bending. External ionoprints reliably and repeatedly invert the gel bilayer bending axis between water and EtOH. Placing the ionoprint at the gel/gel interface can lead to opposite shape conformations, but with no clear trend in the bending behavior. We hypothesize that this is due to the ionoprint passing through the neutral axis of the bilayer during shrinking in hot water. Finally, we demonstrate the ability of the actuators to achieve shapes unique to the specific external conditions towards developing more responsive and adaptive soft actuator devices.

  7. Performance study of a hydrogen powered metal hydride actuator

    Science.gov (United States)

    Mainul Hossain Bhuiya, Md; Kim, Kwang J.

    2016-04-01

    A thermally driven hydrogen powered actuator integrating metal hydride hydrogen storage reactor, which is compact, noiseless, and able to generate smooth actuation, is presented in this article. To test the plausibility of a thermally driven actuator, a conventional piston type actuator was integrated with LaNi5 based hydrogen storage system. Copper encapsulation followed by compaction of particles into pellets, were adopted to improve overall thermal conductivity of the reactor. The operation of the actuator was thoroughly investigated for an array of operating temperature ranges. Temperature swing of the hydride reactor triggering smooth and noiseless actuation over several operating temperature ranges were monitored for quantification of actuator efficiency. Overall, the actuator generated smooth and consistent strokes during repeated cycles of operation. The efficiency of the actuator was found to be as high as 13.36% for operating a temperature range of 20 °C-50 °C. Stress-strain characteristics, actuation hysteresis etc were studied experimentally. Comparison of stress-strain characteristics of the proposed actuator with traditional actuators, artificial muscles and so on was made. The study suggests that design modification and use of high pressure hydride may enhance the performance and broaden the application horizon of the proposed actuator in future.

  8. NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY

    Institute of Scientific and Technical Information of China (English)

    KE Zunrong; ZHU Yuquan; LING Xuan

    2007-01-01

    A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.

  9. Cylinder Flow Control Using Plasma Actuators

    Science.gov (United States)

    Kozlov, Alexey; Thomas, Flint

    2007-11-01

    In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. Two optimized quartz dielectric plasma actuators mounted on the cylinder surface utilizing an improved saw-tooth waveform high-voltage generator allowed flow control at Reynolds number approaching supercritical. Using either steady or unsteady actuation, it is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. PIV based flow fields and wake velocity profiles obtained with hot-wire anemometry show large reductions in vortex shedding, wake width and turbulence intensity.

  10. Biomimetic actuator and sensor for robot hand

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon [Sungkyunkwan Univ., Seoul (Korea, Republic of)

    2012-12-15

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor.

  11. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    Peter Scarfe

    2008-11-01

    Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

  12. Effect of actuation sequence on flow rates of peristaltic micropumps with PZT actuators.

    Science.gov (United States)

    Jang, Ling-Sheng; Shu, Kuan; Yu, Yung-Chiang; Li, Yuan-Jie; Chen, Chiun-Hsun

    2009-02-01

    Many biomedical applications require the administration of drugs at a precise and preferably programmable rate. The flow rate generated by the peristaltic micropumps used in such applications depends on the actuation sequence. Accordingly, the current study performs an analytical and experimental investigation to determine the correlation between the dynamic response of the diaphragms in the micropump and the actuation sequence. A simple analytical model of a peristaltic micropump is established to analyze the shift in the resonant frequency of the diaphragms caused by the viscous damping effect. The analytical results show that this damping effect increases as the oscillation frequency of the diaphragm increases. A peristaltic micropump with three piezoelectric actuators is fabricated on a silicon substrate and is actuated using 2-, 3-, 4- and 6-phase actuation sequences via a driving system comprising a microprocessor and a phase controller. A series of experiments is conducted using de-ionized water as the working fluid to determine the diaphragm displacement and the flow rates induced by each of the different actuation sequences under phase frequencies ranging from 50 Hz to 1 MHz. The results show that the damping effect of actuation sequences influences diaphragm resonant frequency, which in turn affects the profiles of flow rates. PMID:18821016

  13. Control Software for Piezo Stepping Actuators

    Science.gov (United States)

    Shields, Joel F.

    2013-01-01

    A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

  14. Surface micromachined electrostatically actuated micro peristaltic pump

    OpenAIRE

    Xie, Jun; Shih, Jason; Lin, Qiao; Yang, Bozhi; Tai, Yu-Chong

    2004-01-01

    An electrostatically actuated micro peristaltic pump is reported. The micro pump is entirely surface micromachined using a multilayer parylene technology. Taking advantage of the multilayer technology, the micro pump design enables the pumped fluid to be isolated from the electric field. Electrostatic actuation of the parylene membrane using both DC and AC voltages was demonstrated and applied to fluid pumping based on a 3-phase peristaltic sequence. A maximum flow rate of 1.7 nL min^–1 and a...

  15. FLUTTER SUPPRESSION USING DISTRIBUTED PIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    The Flutter suppression using distributed piezoelectric actuators has been analyzed and tested. In constructing the finite element equation, effects of piezoelectric matrices are investigated. LQG method is used in designing the control law. In reducing the order of the control law, both balance realization and LK methods are used. For the rational approximation of the unsteady aerodynamic forces LS method is improved. In determining the piezoelectric constants d31 a new dynamic response method is developed. Laser vibrameter is used to pick up the model response and in ground resonance test the model is excited by piezoelectric actuators. Reasonable agreement of the wind tunnel flutter suppression test with calculated results is obtained.

  16. Optical nano and micro actuator technology

    CERN Document Server

    Knopf, George K

    2012-01-01

    In Optical Nano and Micro Actuator Technology, leading engineers, material scientists, chemists, physicists, laser scientists, and manufacturing specialists offer an in-depth, wide-ranging look at the fundamental and unique characteristics of light-driven optical actuators. They discuss how light can initiate physical movement and control a variety of mechanisms that perform mechanical work at the micro- and nanoscale. The book begins with the scientific background necessary for understanding light-driven systems, discussing the nature of light and the interaction between light and NEMS/MEMS d

  17. Ceramic-Metal Interfaces in Multilayer Actuators

    DEFF Research Database (Denmark)

    Engell, John; Pedersen, Henrik Guldberg; Andersen, Bjørn;

    1996-01-01

    quality and strength of this interface. In the case of a weak ceramic-metal interface, delaminations will occur under severe working conditions.Work has been carried out on a commercial PZT type ceramic and various types of Pt electrode paste. The present study involves characterization of the interface......Multilayer actuators consist of a number of piezoelectric or electrostrictive ceramic layers, separated by thin metal electrodes. Thus, the ceramic-metal interface plays an even more important role than for bulk piezoceramics. The performance and durability of the actuator depends closely on the...

  18. Fabrication of Electrostatically Actuated Microshutters Arrays

    Science.gov (United States)

    Oh, L.; Li, M.; Kelly, D.; Kutyrev, A.; Moseley, S.

    2016-01-01

    A new fabrication process has been developed to actuate microshutter arrays (MSA) electrostatically at NASA Goddard Space Flight Center. The microshutters, made with silicon nitride membranes with a pixel size of 100 x 200 sq microns, rotate on torsion bars. The microshutters are actuated, latched, and addressed electrostatically by applying voltages on the electrodes the front and back sides of the microshutters. The atomic layer deposition (ALD) of aluminum oxide was used to insulate electrodes on the back side of walls; the insulation can withstand over 100 V. The ALD aluminum oxide is dry etched, and then the microshutters are released in vapor HF.

  19. Actuated Hybrid Mirrors for Space Telescopes

    Science.gov (United States)

    Hickey, Gregory; Ealey, Mark; Redding, David

    2010-01-01

    This paper describes new, large, ultra-lightweight, replicated, actively controlled mirrors, for use in space telescopes. These mirrors utilize SiC substrates, with embedded solid-state actuators, bonded to Nanolaminate metal foil reflective surfaces. Called Actuated Hybrid Mirrors (AHMs), they use replication techniques for high optical quality as well as rapid, low cost manufacturing. They enable an Active Optics space telescope architecture that uses periodic image-based wavefront sensing and control to assure diffraction-limited performance, while relaxing optical system fabrication, integration and test requirements. The proposed International Space Station Observatory seeks to demonstrate this architecture in space.

  20. Research on Composite PZT for Largedisplacement Actuators

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A new kind of composite piezoelectric ceramics for large-displacement actuators, which were composed of reduced and unreduced layers, was prepared from normal PZT by chemical reduction. The stress distribution inside the composite PZT was researched and the chemical reduction conditions were explored.The actuating properties of reduced PZT were also studied. It is found that the optimal ratio of reduced layer thickness for the composite structure is 0.3; Reduced composite PZT has lower resonance frequency and 3 times larger displacement than that of the traditional PZT; Re-oxide phases are found in reduced layer of composite PZT showing the reduction procedure needs to be improved.

  1. Prognostic Health-Management System Development for Electromechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Electro-mechanical actuators (EMAs) have been gaining increased acceptance as safety-critical actuation devices in the next generation of aircraft and spacecraft....

  2. Actuator assembly including a single axis of rotation locking member

    Science.gov (United States)

    Quitmeyer, James N.; Benson, Dwayne M.; Geck, Kellan P.

    2009-12-08

    An actuator assembly including an actuator housing assembly and a single axis of rotation locking member fixedly attached to a portion of the actuator housing assembly and an external mounting structure. The single axis of rotation locking member restricting rotational movement of the actuator housing assembly about at least one axis. The single axis of rotation locking member is coupled at a first end to the actuator housing assembly about a Y axis and at a 90.degree. angle to an X and Z axis providing rotation of the actuator housing assembly about the Y axis. The single axis of rotation locking member is coupled at a second end to a mounting structure, and more particularly a mounting pin, about an X axis and at a 90.degree. angle to a Y and Z axis providing rotation of the actuator housing assembly about the X axis. The actuator assembly is thereby restricted from rotation about the Z axis.

  3. Dynamic Actuator for Centrifuge Modeling of Soil-Structure Interaction

    OpenAIRE

    CABRERA, Miguel Angel; Caicedo, Bernardo; THOREL, Luc

    2012-01-01

    This paper presents a new dynamic actuator useful to study soil-structure interactions in a centrifuge. This new dynamic apparatus is based on an amplified piezoelectric actuator. Using this device it is possible to create vibrations in the soil sample of different frequencies and amplitudes. The dynamic actuator consists of a set of weights in a single degree of freedom system plus a piezoelectric actuator and a piezoelectric load cell, which measures the dynamic load. A description of the d...

  4. Experimental Research on Output Performances of Giant Magnetostrictive Actuator

    Institute of Scientific and Technical Information of China (English)

    LI Guo-ping; CHEN Zi-chen

    2007-01-01

    The paper introduces the performances of magnetostrictive actuators and its applications, discusses the design methods for the structure and internal magnetic circuit of a giant magnetostrictive actuator, and makes tests on the output displacement and force characteristics for an actuator using homemade magnetostrictive material. The experimental result shows that the actuator has satisfactory output precisions and ranges in transient and stable states, and can be used in lowfrequency vibration control system of precise equipment.

  5. Optimization of Moving Coil Actuators for Digital Displacement Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Bech, Michael Møller; Roemer, Daniel Beck;

    This paper focuses on deriving an optimal moving coil actuator design, used as force producing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetization direction) are optimized...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...

  6. Flexible parylene actuator for micro adaptive flow control

    OpenAIRE

    Pornsin-Sirirak, T. N.; Tai, Y. C.; Nassef, H.; Ho, C M

    2001-01-01

    This paper describes the first flexible parylene electrostatic actuator valves intended for micro adaptive flow control for the future use on the wings of micro-air-vehicle (MAV). The actuator diaphragm is made of two layers of parylene membranes with offset vent holes. Without electrostatic actuation, air can move freely from one side of the skin to the other side through the vent holes. With actuation, these vent holes are sealed and the airflow is controlled. The membrane behaves as a comp...

  7. Dynamic actuation of single-crystal diamond nanobeams

    Energy Technology Data Exchange (ETDEWEB)

    Sohn, Young-Ik; Burek, Michael J.; Lončar, Marko, E-mail: loncar@seas.harvard.edu [John A. Paulson School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, Massachusetts 02138 (United States); Kara, Vural [Department of Mechanical Engineering, Division of Materials Science and Engineering, and the Photonics Center, Boston University, Boston, Massachusetts 02215 (United States); Kearns, Ryan [John A. Paulson School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, Massachusetts 02138 (United States); Department of Chemical Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario N2L 3G1 (Canada)

    2015-12-14

    We show the dielectrophoretic actuation of single-crystal diamond nanomechanical devices. Gradient radio-frequency electromagnetic forces are used to achieve actuation of both cantilever and doubly clamped beam structures, with operation frequencies ranging from a few MHz to ∼50 MHz. Frequency tuning and parametric actuation are also studied.

  8. STUDY ON THE CONTROL OF SINGLE PNEUMATIC MUSCLE ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    Fan Wei; Peng Guangzheng; Chai Senchun; Ning Ruxin

    2003-01-01

    The control of single pneumatic muscle actuator is studied, as one basic part of research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experiments show that a self-modified fuzzy-PID controller is obviously effective for its position servo and a simple PID controller is good for its force track.

  9. Thermal Actuation for Precision Micro Motion and Positioning

    NARCIS (Netherlands)

    Paalvast, S.L.

    2010-01-01

    The primary goal of this research was to study the feasibility of a thermal micro actuator for improved tracking performance of a Hard Disk Drive (HDD), and the feasibility of thermal actuation for precision micro motion and positioning in general. The fast dynamics of the micro actuator allows it t

  10. Piezoelectric stack actuator parameter extraction with hysteresis compensation

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Mangeot, Charles; Andersen, Michael A. E.;

    2014-01-01

    The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...

  11. A novel energy-efficient rotational variable stiffness actuator

    NARCIS (Netherlands)

    Rao, Shodhan; Carloni, Raffaella; Stramigioli, Stefano

    2011-01-01

    This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping

  12. 14 CFR 33.72 - Hydraulic actuating systems.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hydraulic actuating systems. 33.72 Section... AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic actuating systems. Each hydraulic actuating system must function properly under all conditions in which...

  13. Final report : compliant thermo-mechanical MEMS actuators, LDRD #52553.

    Energy Technology Data Exchange (ETDEWEB)

    Walraven, Jeremy Allen; Baker, Michael Sean; Headley, Thomas Jeffrey; Plass, Richard Anton

    2004-12-01

    Thermal actuators have proven to be a robust actuation method in surface-micromachined MEMS processes. Their higher output force and lower input voltage make them an attractive alternative to more traditional electrostatic actuation methods. A predictive model of thermal actuator behavior has been developed and validated that can be used as a design tool to customize the performance of an actuator to a specific application. This tool has also been used to better understand thermal actuator reliability by comparing the maximum actuator temperature to the measured lifetime. Modeling thermal actuator behavior requires the use of two sequentially coupled models, the first to predict the temperature increase of the actuator due to the applied current and the second to model the mechanical response of the structure due to the increase in temperature. These two models have been developed using Matlab for the thermal response and ANSYS for the structural response. Both models have been shown to agree well with experimental data. In a parallel effort, the reliability and failure mechanisms of thermal actuators have been studied. Their response to electrical overstress and electrostatic discharge has been measured and a study has been performed to determine actuator lifetime at various temperatures and operating conditions. The results from this study have been used to determine a maximum reliable operating temperature that, when used in conjunction with the predictive model, enables us to design in reliability and customize the performance of an actuator at the design stage.

  14. Performance evaluation of an improved fish robot actuated by piezoceramic actuators

    Science.gov (United States)

    Nguyen, Q. S.; Heo, S.; Park, H. C.; Byun, D.

    2010-03-01

    This paper presents an improved fish robot actuated by four lightweight piezocomposite actuators. Our newly developed actuation mechanism is simple to fabricate because it works without gears. With the new actuation mechanism, the fish robot has a 30% smaller cross section than our previous model. Performance tests of the fish robot in water were carried out to measure the tail-beat angle, the thrust force, the swimming speed for various tail-beat frequencies from 1 to 5 Hz and the turning radius at the optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s - 1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming direction of the fish robot can be controlled by changing the duty ratio of the driving voltage; the fish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn.

  15. Novel Highly Efficient Compact Rotary-Hammering Planetary Sampler Actuated by a Single Piezoelectric Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We had two objectives in this task: 1. Develop effective single low-mass, low-power piezoelectric drive that can actuate rotary-hammer samplers through walls. 2....

  16. Carbon nanotube based NEMS actuators and sensors

    Science.gov (United States)

    Forney, Michael; Poler, Jordan

    2011-03-01

    Single-walled carbon nanotubes (SWNTs) have been widely studied due to superior mechanical and electrical properties. We have grown vertically aligned SWNTs (VA-SWNTs) onto microcantilever (MC) arrays, which provides an architecture for novel actuators and sensors. Raman spectroscopy confirms that the CVD-grown nanotubes are SWNTs and SEM confirms aligned growth. As an actuator, this hybrid MC/VA-SWNT system can be electrostatically modulated. SWNTs are excellent electron acceptors, so we can charge up the VA-SWNT array by applying a voltage. The electrostatic repulsion among the charged SWNTs provides a surface stress that induces MC deflection. Simulation results show that a few electrons per SWNT are needed for measureable deflections, and experimental actuators are being characterized by SEM, Raman, and an AFM optical lever system. The applied voltage is sinusoidally modulated, and deflection is measured with a lock-in amplifier. These actuators could be used for nano-manipulation, release of drugs from a capsule, or nano-valves. As a sensor, this MC/VA-SWNT system offers an improved sensitivity for chemical and bio-sensing compared to surface functionalized MC-based sensors. Those sensors only have a 2D sensing surface, but a MC/VA-SWNT system has significantly more sensing surface because the VA-SWNTs extend microns off the MC surface.

  17. Spring-loaded polymeric gel actuators

    Science.gov (United States)

    Shahinpoor, M.

    1995-02-14

    Spring-loaded electrically controllable polymeric gel actuators are disclosed. The polymeric gels can be polyvinyl alcohol, polyacrylic acid, or polyacrylamide, and are contained in an electrolytic solvent bath such as water plus acetone. The action of the gel is mechanically biased, allowing the expansive and contractile forces to be optimized for specific applications. 5 figs.

  18. Multiscale optimization of saturated poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    A multiscale method for optimizing the material micro structure in a macroscopically heterogeneous saturated poroelastic media with respect to macro properties is presented. The method is based on topology optimization using the homogenization technique, here applied to the optimization of a bi......-morph saturated poroelastic actuator....

  19. Saturated poroelastic actuators generated by topology optimization

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    2011-01-01

    In this paper the fluid-structure interaction problem of a saturated porous media is considered. The pressure coupling properties of porous saturated materials change with the microstructure and this is utilized in the design of an actuator using a topology optimized porous material. By maximizin...

  20. Development of ICPF Actuated Underwater Microrobots

    Institute of Scientific and Technical Information of China (English)

    Xiuo-Fen Ye; Bao-Feng Gao; Shu-Xiang Guo; Li-Quan Wang

    2006-01-01

    It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF) are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1. It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.

  1. Nanopositioner actuator energy cost and performance

    NARCIS (Netherlands)

    Engelen, J.B.C.; Khatib, M.G.; Abelmann, L.; Elwenspoek, M.C.

    2013-01-01

    We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and per

  2. Comb-drive actuators for large displacements

    NARCIS (Netherlands)

    Legtenberg, Rob; Groeneveld, A.W.; Elwenspoek, M.

    1996-01-01

    The design, fabrication and experimental results of lateral-comb-drive actuators for large displacements at low driving voltages is presented. A comparison of several suspension designs is given, and the lateral large deflection behaviour of clamped - clamped beams and a folded flexure design is mod

  3. Actuator and method for positioning an object

    NARCIS (Netherlands)

    Van Schieveen, J.P.; Spronck, J.W.

    2010-01-01

    The invention relates to an actuator for positioning an object in a first direction of movement, comprising a base, at least three positioning members, wherein each of the at least three positioning members has a contact surface which is configured to bear against the object under prestress, and a c

  4. The Overtone Fiddle: an Actuated Acoustic Instrument

    DEFF Research Database (Denmark)

    Overholt, Daniel

    2011-01-01

    The Overtone Fiddle is a new violin-family instrument that incorporates electronic sensors, integrated DSP, and physical actuation of the acoustic body. An embedded tactile sound transducer creates extra vibrations in the body of the Overtone Fiddle, allowing performer control and sensation via...

  5. Sleeve Muscle Actuator: Concept and Prototype Demonstration

    Institute of Scientific and Technical Information of China (English)

    Tad Driver; Xiangrong Shen

    2013-01-01

    This paper presents the concept and prototype demonstration results of a new sleeve muscle actuator,which provides a significantly improved performance through a fundamental structural change to the traditional pneumatic muscle.Specifically,the sleeve muscle incorporates a cylindrical insert to the center of the pneumatic muscle,and thus eliminates the central portion of the intemal volume.Through the analysis of the actuation mechanism,it is shown that the sleeve muscle is able to provide a consistent increase of force capacity over the entire range of motion.Furthermore,the sleeve muscle provides a significant energy saving effect,as a result of the reduced internal volume as well as the enhance force capacity.To demonstrate this new concept,a sleeve muscle prototype was designed and fabricated.Experiments conducted on the prototype verified the improvement in the force capacity and demonstrated a significant energy saving effect (20%-37%).Finally,as the future work on this new concept,the paper presents a new robotic elbow design actuated with the proposed sleeve muscle.This unique design is expected to provide a highly compact and powerful actuation approach for robotic systems.

  6. Actuation response of polyacrylate dielectric elastomers

    DEFF Research Database (Denmark)

    Kofod, G.; Kornbluh, R.; Pelrine, R.;

    2001-01-01

    Polyacrylate dielectric elastomers have yielded extremely large strain and elastic energy density suggesting that they are useful for many actuator applications. A thorough understanding of the physics underlying the mechanism of the observed response to an electric field can help develop improve...

  7. Numerical simulation of mechatronic sensors and actuators

    CERN Document Server

    Kaltenbacher, Manfred

    2007-01-01

    Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.

  8. Piezoelectric actuators control applications of smart materials

    CERN Document Server

    Choi, Seung-Bok

    2010-01-01

    Newer classes of smart materials are beginning to display the capacity for self-repair, self-diagnosis, self-multiplication, and self-degradation. While there are other candidates, piezoelectric actuators and sensors are proving to be the best choice. This title details the authors' research and development in this area.

  9. Synthetic jet actuation for load control

    NARCIS (Netherlands)

    Vries, de H.; Weide, van der E.T.A.; Hoeijmakers, H.W.M.

    2014-01-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local chan

  10. Mechanisms and actuators for rotorcraft blade morphing

    Science.gov (United States)

    Vocke, Robert D., III

    The idea of improved fight performance through changes in the control surfaces dates back to the advent of aviation with the Wright brothers' pioneering work on "wing warping," but it was not until the recent progress in material and actuator development that such control surfaces seemed practical for modern aircraft. This has opened the door to a new class of aircraft that have the ability to change shape or morph, which are being investigated due to the potential to have a single platform serve multiple mission objectives, as well as improve performance characteristics. While the majority of existing research for morphing aircraft has focused on fixedwing aircraft, rotary-wing aircraft have begun to receive more attention. The purpose of this body of work is to investigate the current state of morphing actuation technology for rotorcraft and improve upon it. Specifically, this work looks at two types of morphing: Pneumatic Artificial Muscle (PAM) actuated trailing edge flaps and conformal variable diameter morphing. First, active camber changes through the use of PAM powered trailing edge flaps were investigated due to the potential for reductions in power requirements and vibration/noise levels. A PAM based antagonistic actuation system was developed utilizing a novel combination of mechanism geometry and PAM bias contraction optimization to overcome the natural extension stiffening characteristics of PAMs. In open-loop bench-top testing against a "worst-case" constant torsional loading, the system demonstrated actuation authority suitable for both primary control and vibration/noise reduction. Additionally, closed-loop test data indicated that the system was capable of tracking complex waveforms consistent with those needed for rotorcraft control. This system demonstrated performance on-par with the state of the art pneumatic trailing edge flap actuators, yet with a much smaller footprint and impact on the rotor-blade. The second morphing system developed in

  11. A smart soft actuator using a single shape memory alloy for twisting actuation

    Science.gov (United States)

    Shim, Jae-Eul; Quan, Ying-Jun; Wang, Wei; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon

    2015-12-01

    Recently, robots have become a topic of interest with regard to their functionality as they need to complete a large number of diverse tasks in a variety of environments. When using traditional mechanical components, many parts are needed to realize complex deformations, such as motors, hinges, and cranks. To produce complex deformations, this work introduces a smart soft composite torsional actuator using a single shape memory alloy (SMA) wire without any additional elements. The proposed twisting actuator is composed of a torsionally prestrained SMA wire embedded at the center of a polydimethylsiloxane matrix that twists by applying an electric current upon joule heating of the SMA wire. This report shows the actuator design, fabrication method, and results for the twisting angle and actuation moment. Results show that a higher electric current helps reach the maximum twisting angle faster, but that if the current is too low or too high, it will not be able to reach its maximum deformation. Also, both the twisting angle and the twisting moment increase with a large applied twisting prestrain, but this increase has an asymptotic behavior. However, results for both the width and the thickness of the actuator show that a larger width and thickness reduce the maximum actuation angle of the actuator. This paper also presents a new mechanism for an SMA-actuated active catheter using only two SMA wires with a total length of 170 mm to bend the tip of the catheter in multiple directions. The fabricated active catheter’s maximum twisting angle is 270°, and the maximum bending curvature is 0.02 mm-1.

  12. Nonlinear vibration of an electrically actuated microresonator tuned by combined DC piezoelectric and electric actuations

    International Nuclear Information System (INIS)

    This paper studies the nonlinear vibration of a clamped–clamped microresonator under combined electric and piezoelectric actuations. The electric actuation is induced by applying an AC–DC voltage between the microbeam and the electrode plate that lies on opposite sides of the microbeam, and the piezoelectric actuation is induced by applying the DC voltage between upper and lower sides of the piezoelectric layer deposited on the microbeam length. It is assumed that the neutral axis of bending is stretched when the microbeam is deflected. The equations of motion are derived using Newton's second law, and are solved using the multiple-scale perturbation method. It is shown that, depending on the value of DC electric and piezoelectric actuations, geometry and the bending stiffness of the system. A softening or hardening behavior may be realized. It demonstrates that nonlinear behavior of an electrically actuated microresonator may be tuned to a linear behavior by applying a convenient DC electric voltage to the piezoelectric layer, and so an undesirable shift of resonance frequency may be removed. If one lets the applied voltage to the piezoelectric layer be equal to zero, this paper would be an effort to tailor the linear and nonlinear stiffness coefficients of two layered electrically actuated microresonators without the assumption that the lengths of the two layers are equal

  13. Failure of cargo aileron’s actuator

    Directory of Open Access Journals (Sweden)

    G. Zucca

    2014-10-01

    Full Text Available During a ferry flight, in a standard operation condition and at cruising level, a military cargo experienced a double hydraulic system failure due to a structural damage of the dual booster actuator. The booster actuator is the main component in mechanism of aileron’s deflection. The crew was able to arrange an emergency landing thanks to the spare oil onboard: load specialists refilled the hydraulic reservoirs. Due to safety concerns and in order to prevent the possibility of other similar incidents, a technical investigation took place. The study aimed to carry out the analysis of root causes of the actuator failure. The Booster actuator is composed mainly by the piston rod and its aluminum external case (AA7049. The assembly has two bronze caps on both ends. These are fixed in position by means of two retainers. At one end of the actuator case is placed a trunnion: a cylindrical protrusion used as a pivoting point on the aircraft. The fracture was located at one end of the case, on the trunnion side, in correspondence to the cap and over the retainer. One of the two fracture surfaces was found separated to the case and with the cap entangled inside. The fracture surfaces of the external case indicated fatigue crack growth followed by ductile separation. The failure analysis was performed by means of optical, metallographic, digital and electronic microscopy. The collected evidences showed a multiple initiation fracture mechanism. Moreover, 3D scanner reconstruction and numerical simulation demonstrated that dimensional non conformances and thermal loads caused an abnormal stress concentration. Stress concentration was located along the case assy outer surface where the fatigue crack originated. The progressive rupture mechanism grew under cyclical axial load due to the normal operations. Recommendations were issued in order to improve dimensional controls and assembly procedures during production and overhaul activities.

  14. Field emission microplasma actuation for microchannel flows

    Science.gov (United States)

    Sashank Tholeti, Siva; Shivkumar, Gayathri; Alexeenko, Alina A.

    2016-06-01

    Microplasmas offer attractive flow control methodology for gas transport in microsystems where large viscous losses make conventional pumping methods highly inefficient. We study microscale flow actuation by dielectric-barrier discharge (DBD) with field emission (FE) of electrons, which allows lowering the operational voltage from kV to a few hundred volts and below. A feasibility study of FE-DBD for flow actuation is performed using 2D particle-in-cell method with Monte Carlo collisions (PIC/MCC) at 10 MHz in nitrogen at atmospheric pressure. The free diffusion dominated, high velocity field emission electrons create a large positive space charge and a body force on the order of 106 N m‑3. The body force and Joule heat decrease with increase in dielectric thickness and electrode thickness. The body force also decreases at lower pressures. The plasma body force distribution along with the Joule heating is then used in the Navier–Stokes simulations to quantify the flow actuation in a microchannel. Theoretical analysis and simulations for plasma actuated planar Poiseuille flow show that the gain in flow rate is inversely proportional to Reynolds number. This theoretical analysis is in good agreement with the simulations for a microchannel with closely placed actuators under incompressible conditions. Flow rate of FE-DBD driven 2D microchannel is around 100 ml min‑1 mm‑1 for an input power of 64 μW mm‑1. The gas temperature rises by 1500 K due to the Joule heating, indicating FE-DBD’s potential for microcombustion, micropropulsion and chemical sensing in addition to microscale pumping and mixing applications.

  15. Printing low-voltage dielectric elastomer actuators

    Science.gov (United States)

    Poulin, Alexandre; Rosset, Samuel; Shea, Herbert R.

    2015-12-01

    We demonstrate the fabrication of fully printed thin dielectric elastomer actuators (DEAs), reducing the operation voltage below 300 V while keeping good actuation strain. DEAs are soft actuators capable of strains greater than 100% and response times below 1 ms, but they require driving voltage in the kV range, limiting the possible applications. One way to reduce the driving voltage of DEAs is to decrease the dielectric membrane thickness, which is typically in the 20-100 μm range, as reliable fabrication becomes challenging below this thickness. We report here the use of pad-printing to produce μm thick silicone membranes, on which we pad-print μm thick compliant electrodes to create DEAs. We achieve a lateral actuation strain of 7.5% at only 245 V on a 3 μm thick pad-printed membrane. This corresponds to a ratio of 125%/kV2, by far the highest reported value for DEAs. To quantify the increasing stiffening impact of the electrodes on DEA performance as the membrane thickness decreases, we compare two circular actuators, one with 3 μm- and one with 30 μm-thick membranes. Our experimental measurements show that the strain uniformity of the 3 μm-DEA is indeed affected by the mechanical impact of the electrodes. We developed a simple DEA model that includes realistic electrodes of finite stiffness, rather than assuming zero stiffness electrodes as is commonly done. The simulation results confirm that the stiffening impact of the electrodes is an important parameter that should not be neglected in the design of thin-DEAs. This work presents a practical approach towards low-voltage DEAs, a critical step for the development of real world applications.

  16. Actuator development for the Instrument Pointing System (IPS)

    Science.gov (United States)

    Suttner, K.

    1984-01-01

    The mechanisms of the instrument pointing system (IPS) are described. Particular emphasis is placed on the actuators which are necessary for operating the IPS. The actuators are described as follows: (1) two linear actuators that clamp the gimbals down during ascent and descent; (2) two linear actuators that attach the payload to the IPS during the mission, and release it into the payload clamps; (3) one rotational actuator that opens and closes the payload clamps; and (4) three identical drive units that represent the three orthogonal gimbal axes and are the prime movers for pointing. Design features, manufacturing problems, test performance, and results are presented.

  17. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons

    2008-01-01

    Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.

  18. Analytical dynamic modeling of fast trilayer polypyrrole bending actuators

    International Nuclear Information System (INIS)

    Analytical modeling of conjugated polymer actuators with complicated electro-chemo-mechanical dynamics is an interesting area for research, due to the wide range of applications including biomimetic robots and biomedical devices. Although there have been extensive reports on modeling the electrochemical dynamics of polypyrrole (PPy) bending actuators, mechanical dynamics modeling of the actuators remains unexplored. PPy actuators can operate with low voltage while producing large displacement in comparison to robotic joints, they do not have friction or backlash, but they suffer from some disadvantages such as creep and hysteresis. In this paper, a complete analytical dynamic model for fast trilayer polypyrrole bending actuators has been proposed and named the analytical multi-domain dynamic actuator (AMDDA) model. First an electrical admittance model of the actuator will be obtained based on a distributed RC line; subsequently a proper mechanical dynamic model will be derived, based on Hamilton's principle. The purposed modeling approach will be validated based on recently published experimental results

  19. A Review of High Voltage Drive Amplifiers for Capacitive Actuators

    DEFF Research Database (Denmark)

    Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

    2012-01-01

    This paper gives an overview of the high voltage amplifiers, which are used to drive capacitive actuators. The amplifiers for both piezoelectric and DEAP (dielectric electroactive polymer) actuator are discussed. The suitable topologies for driving capacitive actuators are illustrated in detail, ......, including linear as well as switched mode amplifiers. In the past much attention has been paid on the driver for piezoelectric actuator. As DEAP is a type of new material, there is not much literature reference for it.......This paper gives an overview of the high voltage amplifiers, which are used to drive capacitive actuators. The amplifiers for both piezoelectric and DEAP (dielectric electroactive polymer) actuator are discussed. The suitable topologies for driving capacitive actuators are illustrated in detail...

  20. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    International Nuclear Information System (INIS)

    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s−1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ∼0.7% in water across a frequency range of 0.1–1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s−1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s−1 with a power consumption of 1.14 W. (paper)

  1. A DNA tweezer-actuated enzyme nanoreactor.

    Science.gov (United States)

    Liu, Minghui; Fu, Jinglin; Hejesen, Christian; Yang, Yuhe; Woodbury, Neal W; Gothelf, Kurt; Liu, Yan; Yan, Hao

    2013-01-01

    The functions of regulatory enzymes are essential to modulating cellular pathways. Here we report a tweezer-like DNA nanodevice to actuate the activity of an enzyme/cofactor pair. A dehydrogenase and NAD(+) cofactor are attached to different arms of the DNA tweezer structure and actuation of enzymatic function is achieved by switching the tweezers between open and closed states. The enzyme/cofactor pair is spatially separated in the open state with inhibited enzyme function, whereas in the closed state, enzyme is activated by the close proximity of the two molecules. The conformational state of the DNA tweezer is controlled by the addition of specific oligonucleotides that serve as the thermodynamic driver (fuel) to trigger the change. Using this approach, several cycles of externally controlled enzyme inhibition and activation are successfully demonstrated. This principle of responsive enzyme nanodevices may be used to regulate other types of enzymes and to introduce feedback or feed-forward control loops.

  2. Braille display device using soft actuator

    Science.gov (United States)

    Lee, Sangwon; Jung, Kwangmok; Koo, Jachoon; Lee, Sungil; Choi, Hoogon; Jeon, Jaewook; Nam, Jaedo; Choi, Hyoukryeol

    2004-07-01

    Tactile sensation is one of the most important sensory functions along with the auditory sensation for the visually impaired because it replaces the visual sensation of the persons with sight. In this paper, we present a tactile display device as a dynamic Braille display that is the unique tool for exchanging information among them. The proposed tactile cell of the Braille display is based on the dielectric elastomer and it has advantageous features over the existing ones with respect to intrinsic softness, ease of fabrication, cost effectiveness and miniaturization. We introduce a new idea for actuation and describe the actuating mechanism of the Braille pin in details capable of realizing the enhanced spatial density of the tactile cells. Finally, results of psychophysical experiments are given and its effectiveness is confirmed.

  3. Robotic insects: Manufacturing, actuation, and power considerations

    Science.gov (United States)

    Wood, Robert

    2015-12-01

    As the characteristic size of a flying robot decreases, the challenges for successful flight revert to basic questions of fabrication, actuation, fluid mechanics, stabilization, and power - whereas such questions have in general been answered for larger aircraft. When developing a robot on the scale of a housefly, all hardware must be developed from scratch as there is nothing "off-the-shelf" which can be used for mechanisms, sensors, or computation that would satisfy the extreme mass and power limitations. With these challenges in mind, this talk will present progress in the essential technologies for insect-like robots with an emphasis on multi-scale manufacturing methods, high power density actuation, and energy-efficient power distribution.

  4. Satellite Attitude Control Using Only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus...... was that interaction between the Earth's magnetic field and a magnetic field generated by a set of coils in the satellite can be used for actuation. Magnetic torquing was found attractive for generation of control torques on small satellites, since magnetic control systems are relatively lightweight, require low power...... part of the thesis. Its design was based on sliding mode control theory. The essence of the sliding control presented in the thesis was to split the controller design into two steps: a sliding manifold design and a sliding condition design. The emphasis was on the sliding condition design, which...

  5. Considerations For Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, Lewis D. Meixler and Charles A. Gentile

    2012-02-29

    Electroactive polymers (EAPs) that bend, swell, ripple (first generation materials), and now contract with low electric input (new development) have been produced. The mechanism of contraction is not well understood. Radionuclide-labeled experiments, molecular modeling, electrolyte experiments, pH experiments, and an ionic concentration experiment were used to determine the chain of events that occur during contraction and, reciprocally, expansion when the polarity is reversed, in these ionic EAPs. Plasma treatment of the electrodes, along with other strategies, allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface, analogous to nerves and tendons moving with muscles during movement. Challenges involved with prototyping actuation using contractile EAPs are also discussed.

  6. Direct computations of a synthetic jet actuator

    OpenAIRE

    Hayes-McCoy, Declan

    2012-01-01

    This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University. Synthetic jet actuators have previously been defined as having potential use in both internal and external aerodynamic applications. The formation of a jet flow perpendicular to the surface of an aerofoil or in a duct of diffuser has a range of potential flow control benefits. These benefits can include both laminar to turbulent transition control, which is associated with a drag reduction in...

  7. Stabilization of Neutral Systems with Saturating Actuators

    Directory of Open Access Journals (Sweden)

    F. El Haoussi

    2012-01-01

    to determine stabilizing state-feedback controllers with large domain of attraction, expressed as linear matrix inequalities, readily implementable using available numerical tools and with tuning parameters that make possible to select the most adequate solution. These conditions are derived by using a Lyapunov-Krasovskii functional on the vertices of the polytopic description of the actuator saturations. Numerical examples demonstrate the effectiveness of the proposed technique.

  8. Satellite Attitude Control Using Only Electromagnetic Actuation

    OpenAIRE

    Wisniewski, Rafal

    1997-01-01

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The con...

  9. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy

    2016-01-01

    Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive

  10. BIMORPH PIEZOELECTRIC ACTUATOR FOR SMALL PIPE ROBOT

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    An experimental bimorph piezoelectric element (PZT) actuator for small pipe robot is developed. The robotcan move in φ 20 mm pipe, and can carry a CCD camera for detecting cracks or fine holes on inner surface of pipe. Thevelocity of the robot can reach 17~22 mm/s for vertical pipe up/down, respectively. Moving principle and its perfor-mance characteristics are presented.

  11. The Overtone Fiddle: an Actuated Acoustic Instrument

    OpenAIRE

    Overholt, Daniel

    2011-01-01

    The Overtone Fiddle is a new violin-family instrument that incorporates electronic sensors, integrated DSP, and physical actuation of the acoustic body. An embedded tactile sound transducer creates extra vibrations in the body of the Overtone Fiddle, allowing performer control and sensation via both traditional violin techniques, as well as extended playing techniques that incorporate shared man/machine control of the resulting sound. A magnetic pickup system is mounted to the end of the fidd...

  12. Plate actuator vibration modes for levitation

    OpenAIRE

    Almurshedi, A; Atherton, M; C. Mares; Stolarski, T; Wei, B.; Wang, Y.

    2015-01-01

    The design of an aluminium or steel plate of various thicknesses for achieving levitation of a small aluminum disk is investigated by simulation using ANSYS. Each plate design is excited by an arrangement of four hard piezoelectric actuators driven with an AC voltage, which produces a centre displacement for generating a squeeze-film in the gap between the vibrating plate and the disk. Physical experiments show levitation conditions for one of the designs.

  13. Design and demonstration of a fish robot actuated by a SMA-driven actuation system

    Science.gov (United States)

    Le, Chan H.; Nguyen, Quang S.; Park, Hoon C.

    2010-04-01

    This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

  14. Tubular dielectric elastomer actuator for active fluidic control

    Science.gov (United States)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  15. Linear actuation using milligram quantities of CL-20 and TAGDNAT.

    Energy Technology Data Exchange (ETDEWEB)

    Snedigar, Shane; Salton, Jonathan Robert; Tappan, Alexander Smith; Ball, James Patrick; Basiliere, Marc; Fischer, Gary John

    2009-07-01

    There are numerous applications for small-scale actuation utilizing pyrotechnics and explosives. In certain applications, especially when multiple actuation strokes are needed, or actuator reuse is required, it is desirable to have all gaseous combustion products with no condensed residue in the actuator cylinder. Toward this goal, we have performed experiments on utilizing milligram quantities of high explosives to drive a millimeter-diameter actuator with a stroke of 30 mm. Calculations were performed to select proper material quantities to provide 0.5 J of actuation energy. This was performed utilizing the thermochemical code Cheetah to calculate the impetus for numerous propellants and to select quantities based on estimated efficiencies of these propellants at small scales. Milligram quantities of propellants were loaded into a small-scale actuator and ignited with an ignition increment and hot wire ignition. Actuator combustion chamber pressure was monitored with a pressure transducer and actuator stroke was monitored using a laser displacement meter. Total actuation energy was determined by calculating the kinetic energy of reaction mass motion against gravity. Of the materials utilized, the best performance was obtained with a mixture of 2,4,6,8,10,12-hexanitro-2,4,6,8,10,12-hexaazaisowurtzitane (CL-20) and bis-triaminoguanidinium(3,3{prime}dinitroazotriazolate) (TAGDNAT).

  16. Actuator characterization of a man-portable precision maneuver concept

    Institute of Scientific and Technical Information of China (English)

    Ilmars CELMINS; Frank E.FRESCONI; Bryant P.NELSON

    2014-01-01

    The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating) actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.

  17. Actuator characterization of a man-portable precision maneuver concept

    Directory of Open Access Journals (Sweden)

    Ilmars Celmins

    2014-06-01

    Full Text Available The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.

  18. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    KAUST Repository

    Hajjaj, Amal Z.

    2016-03-30

    This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341

  19. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

    Sniegowski, J.J.; Garcia, E.J.

    1994-12-31

    Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.

  20. Fpga-based control of piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Juhász László

    2011-01-01

    Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.

  1. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  2. Synthetic jet actuation for load control

    Science.gov (United States)

    de Vries, H.; van der Weide, E. T. A.; Hoeijmakers, H. W. M.

    2014-12-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local changes in aerodynamic performance. This paper investigates the use of synthetic jets for smart rotor control. Synthetic jets are formed by ingesting low-momentum fluid from the boundary layer along the blade into a cavity and subsequently ejecting this fluid with a higher momentum. We focus on the observed flow phenomena and the ability to use these to obtain the desired changes of the aerodynamic properties of a blade section. To this end, numerical simulations and wind tunnel experiments of synthetic jet actuation on a non-rotating NACA0018 airfoil have been performed. The synthetic jets are long spanwise slits, located close to the trailing edge and directed perpendicularly to the surface of the airfoil. Due to limitations of the present experimental setup in terms of performance of the synthetic jets, the main focus is on the numerical flow simulations. The present results show that high-frequency synthetic jet actuation close to the trailing edge can induce changes in the effective angle of attack up to approximately 2.9°.

  3. Modeling dynamics of multilayered SMA actuators

    Science.gov (United States)

    Melnik, Roderick V. N.; Roberts, Anthony J.

    2001-03-01

    Since the phase change in SMA-based devices such as actuators is accompanied by a significant heat exchange with the surroundings, different concepts to heat/cool SMAs have been proposed in the literature. Most of these concepts require the analysis of a multilayered (e.g. ``sandwich"-type) structure where the SMA layer is placed between layers with another material. In this paper we propose a mathematical model and an efficient numerical method for this analysis. Although our approach can be applied to a wide range of different designs of multilayered actuators, the basic idea of the model construction is explained in this paper for a specific design based on the introduction of semiconductor ``heat pump" modules into the device and the Peltier effect for the heat exchange. The dynamics of thermomechanical fields is studied with a coupled system of PDEs based on conservation laws. The system, supplemented by constitutive relationships in the Falk form, is reduced to a differential-algebraic (DA) model and solved with an effective DA solver developed in our previous works. Numerical results on thermomechanical behaviour of SMA components in multilayered actuators are presented.

  4. Piezoelectric strain sensor/actuator rosettes

    International Nuclear Information System (INIS)

    In-plane anisotropy in the linear piezoelectric constitutive law for [011]c cut and poled PMN–0.29PT is demonstrated to enable its use as a sensor/actuator rosette. The equations for a 0°/45°/90° rosette are developed using the conditions of coupling between the in-plane strain of the crystal and a substrate, and zero out-of-plane stress on the crystal (plane stress conditions in the crystals). The crystals are bonded to a substrate aluminum plate that is instrumented with strain gages next to the crystals. The plate is subjected to bending about different axes and the resulting electric displacement change of the crystals is monitored. The strain components calculated using the change of electric displacement are compared with the strain components measured using strain gages. This sensor/actuator rosette approach is demonstrated to enable both sensing principal strain components and actuating principal strains in an electronically controllable direction. (fast track communication)

  5. Considerations for Electroactive Polymeric Materials and Actuators

    International Nuclear Information System (INIS)

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  6. Macro Fiber Piezocomposite Actuator Poling Study

    Science.gov (United States)

    Werlink, Rudy J.; Bryant, Robert G.; Manos, Dennis

    2002-01-01

    The performance and advantages of Piezocomposite Actuators are to provide a low cost, in-situ actuator/sensor that is flexible, low profile and high strain per volt performance in the same plane of poled voltage. This paper extends reported data for the performance of these Macrofiber Composite (MFC) Actuators to include 4 progressively narrower Intedigitized electrode configurations with several line widths and spacing ratios. Data is reported for max free strain, average strain per applied volt, poling (alignment of the electric dipoles of the PZT ceramic) voltage vs. strain and capacitance, time to poling voltage 95% saturation. The output strain per volt progressively increases as electrode spacing decreases, with saturation occurring at lower poling voltages. The narrowest spacing ratio becomes prone to voltage breakdown or short circuits limiting the spacing width with current fabrication methods. The capacitance generally increases with increasing poling voltage level but has high sensitivity to factors such as temperature, moisture and time from poling which limit its usefulness as a simple indicator. The total time of applied poling voltage to saturate or fully line up the dipoles in the piezoceramic was generally on the order of 5-20 seconds. Less sensitivity to poling due to the applied rate of voltage increase over a 25 to 500 volt/second rate range was observed.

  7. Novel compliant actuator for wearable robotics applications.

    Science.gov (United States)

    Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

    2013-01-01

    In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.

  8. Low-Stroke Actuation for a Serial Robot

    Science.gov (United States)

    Gao, Dalong (Inventor); Ihrke, Chris A. (Inventor)

    2014-01-01

    A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

  9. Hierarchically arranged helical fibre actuators driven by solvents and vapours.

    Science.gov (United States)

    Chen, Peining; Xu, Yifan; He, Sisi; Sun, Xuemei; Pan, Shaowu; Deng, Jue; Chen, Daoyong; Peng, Huisheng

    2015-12-01

    Mechanical responsiveness in many plants is produced by helical organizations of cellulose microfibrils. However, simple mimicry of these naturally occurring helical structures does not produce artificial materials with the desired tunable actuations. Here, we show that actuating fibres that respond to solvent and vapour stimuli can be created through the hierarchical and helical assembly of aligned carbon nanotubes. Primary fibres consisting of helical assemblies of multiwalled carbon nanotubes are twisted together to form the helical actuating fibres. The nanoscale gaps between the nanotubes and micrometre-scale gaps among the primary fibres contribute to the rapid response and large actuation stroke of the actuating fibres. The compact coils allow the actuating fibre to rotate reversibly. We show that these fibres, which are lightweight, flexible and strong, are suitable for a variety of applications such as energy-harvesting generators, deformable sensing springs and smart textiles.

  10. Hierarchically arranged helical fibre actuators driven by solvents and vapours

    Science.gov (United States)

    Chen, Peining; Xu, Yifan; He, Sisi; Sun, Xuemei; Pan, Shaowu; Deng, Jue; Chen, Daoyong; Peng, Huisheng

    2015-12-01

    Mechanical responsiveness in many plants is produced by helical organizations of cellulose microfibrils. However, simple mimicry of these naturally occurring helical structures does not produce artificial materials with the desired tunable actuations. Here, we show that actuating fibres that respond to solvent and vapour stimuli can be created through the hierarchical and helical assembly of aligned carbon nanotubes. Primary fibres consisting of helical assemblies of multiwalled carbon nanotubes are twisted together to form the helical actuating fibres. The nanoscale gaps between the nanotubes and micrometre-scale gaps among the primary fibres contribute to the rapid response and large actuation stroke of the actuating fibres. The compact coils allow the actuating fibre to rotate reversibly. We show that these fibres, which are lightweight, flexible and strong, are suitable for a variety of applications such as energy-harvesting generators, deformable sensing springs and smart textiles.

  11. A compact electroactive polymer actuator suitable for refreshable Braille display

    Science.gov (United States)

    Ren, Kailiang; Liu, Sheng; Lin, Minren; Wang, Yong; Zhang, Q. M.

    2007-04-01

    The large strain, high elastic modulus, and easy processing of P(VDF-TrFE-CFE) electrostrictive terpolymer make it very attractive to replace low strain piezoceramics and piezopolymers in many applications with much improved performance. In this paper, a compact polymer actuator is developed utilizing the electrostrictive terpolymer, which is suitable for full page Braille Display and graphic display. Key issues related to the reliability of electroactive polymers used in the compact actuators and for the mass fabrication of these polymer actuators are investigated. Making use of a recently developed conductive polymer, a screen printing deposition method was developed which enables direct deposition very thin conductive polymer electrode layer (Braille actuator was designed and fabricated with these terpolymer films wound on a spring core. The test results demonstrate that the EAP Braille actuator meets all the functional requirements of actuators for refreshable full Braille display, which offers compact size, reduced cost and weight.

  12. Self-Sensing Ionic Polymer Actuators: A Review

    Directory of Open Access Journals (Sweden)

    Karl Kruusamäe

    2015-03-01

    Full Text Available Ionic electromechanically active polymers (IEAP are laminar composites that can be considered attractive candidates for soft actuators. Their outstanding properties such as low operating voltage, easy miniaturization, and noiseless operation are, however, marred by issues related to the repeatability in the production and operation of these materials. Implementing closed-loop control for IEAP actuators is a viable option for overcoming these issues. Since IEAP laminates also behave as mechanoelectrical sensors, it is advantageous to combine the actuating and sensing functionalities of a single device to create a so-called self-sensing actuator. This review article systematizes the state of the art in producing self-sensing ionic polymer actuators. The IEAPs discussed in this paper are conducting (or conjugated polymers actuators (CPA, ionic polymer-metal composite (IPMC, and carbonaceous polymer laminates.

  13. Investigations of electronic amplifiers supplying a piezobimorph actuator

    Science.gov (United States)

    Milecki, Andrzej; Regulski, Roman

    2016-10-01

    Piezoelectric bending actuators, also known as bimorphs, are characterized by very good dynamic properties and by displacements in a range of a few millimeters. Therefore these actuators are used in a wide range of applications. However their usage is limited because they require supplying amplifiers with output voltage of about 200 V, which are rather expensive. This paper presents investigation results of such amplifiers with high voltage output. The model of a piezobending actuator is proposed and implemented in Matlab-Simulink software in order to simulate the behavior of the actuator supplied by the amplifiers. The simulation results are presented and compared with investigation results of high voltage amplifier used for supplying a piezoactuator. The influence of current limitation of operational amplifier on the actuator current is tested. Finally, a low cost audio power amplifier is proposed to control the piezobender actuator (as a cheaper alternative to the high-voltage amplifier) and its investigations results are presented in the paper.

  14. Shape memory alloy actuated adaptive exhaust nozzle for jet engine

    Science.gov (United States)

    Song, Gangbing (Inventor); Ma, Ning (Inventor)

    2009-01-01

    The proposed adaptive exhaust nozzle features an innovative use of the shape memory alloy (SMA) actuators for actively control of the opening area of the exhaust nozzle for jet engines. The SMA actuators remotely control the opening area of the exhaust nozzle through a set of mechanism. An important advantage of using SMA actuators is the reduction of weight of the actuator system for variable area exhaust nozzle. Another advantage is that the SMA actuator can be activated using the heat from the exhaust and eliminate the need of other energy source. A prototype has been designed and fabricated. The functionality of the proposed SMA actuated adaptive exhaust nozzle is verified in the open-loop tests.

  15. Mechatronics and Bioinspiration in Actuator Design and Control

    OpenAIRE

    J. L. Pons; A. Forner-Cordero; Rocon, E.; Moreno, J. C.

    2008-01-01

    Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration). Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechat...

  16. Enhanced Fault Detection and Isolation in Modern Flight Actuators

    OpenAIRE

    Ossmann, Daniel

    2013-01-01

    Due to their central location in the control system, actuation systems of primary control surfaces in modern, augmented aircraft must show an increased reliability. A traditional approach is based on hardware redundancy. In this way, modern actuation systems of one single control surface consist of up to two actuators and three sensors. These different dynamic subsystems are all prone to faults themselves and can be monitored. This paper presents the setup of a fault detection and diagnosis (...

  17. Dielectric barrier Discharge Plasma Actuator Characterization and Application

    OpenAIRE

    Correale, G.

    2016-01-01

    An experimental investigation about nanosecond Dielectric Barrier Discharge (ns-DBD) plasma actuator is presented in this thesis. This work aimed to answer fundamental questions on the actuation mechanism of this device. In order to do so, parametric studies in a quiescent air as well as laminar bounded of free shear layers were performed. Amplitude and location of the input with respect to the receptivity region as well as frequency of flow actuation were investigated. This work required the...

  18. Multiscale modeling and topology optimization of poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    2012-01-01

    This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc......This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material...

  19. Dielectric material degradation monitoring of dielectric barrier discharge plasma actuators

    Science.gov (United States)

    Hanson, Ronald E.; Houser, Nicole M.; Lavoie, Philippe

    2014-01-01

    It is a known phenomenon that some dielectric materials used to construct plasma actuators degrade during operation. However, the rate at which this process occurs, to what extent, as well as a method to monitor is yet to be established. In this experimental study, it is shown that electrical measurements can be used to monitor changes in the material of the plasma actuators. The procedure we introduce for monitoring the actuators follows from the work of Kriegseis, Grundmann, and Tropea [Kriegseis et al., J. Appl. Phys. 110, 013305 (2011)], who used Lissajous figures to measure actuator power consumption and capacitance. In the present study, we quantify changes in both the power consumption and capacitance of the actuators over long operating durations. It is shown that the increase in the effective capacitance of the actuator is related to degradation (thinning) of the dielectric layer, which is accompanied by an increase in actuator power consumption. For actuators constructed from layers of Kapton® polyimide tape, these changes are self-limiting. Although the polyimide film degrades relatively quickly, the underlying adhesive layer appears to remain intact. Over time, the effective capacitance was found to increase by up to 36%, 25%, and 11% for actuators constructed with 2, 3, and 4 layers of Kapton tape, respectively. A method is presented to prevent erosion of the Kapton dielectric layer using a coating of Polydimethylsiloxane oil. It is shown the application of this treatment can delay the onset of degradation of the Kapton dielectric material.

  20. Frequency-dependent electrostatic actuation in microfluidic MEMS.

    Energy Technology Data Exchange (ETDEWEB)

    Zavadil, Kevin Robert; Michalske, Terry A.; Sounart, Thomas L.

    2003-09-01

    Electrostatic actuators exhibit fast response times and are easily integrated into microsystems because they can be fabricated with standard IC micromachining processes and materials. Although electrostatic actuators have been used extensively in 'dry' MEMS, they have received less attention in microfluidic systems probably because of challenges such as electrolysis, anodization, and electrode polarization. Here we demonstrate that ac drive signals can be used to prevent electrode polarization, and thus enable electrostatic actuation in many liquids, at potentials low enough to avoid electrochemistry. We measure the frequency response of an interdigitated silicon comb-drive actuator in liquids spanning a decade of dielectric permittivities and four decades of conductivity, and present a simple theory that predicts the characteristic actuation frequency. The analysis demonstrates the importance of the native oxide on silicon actuator response, and suggests that the actuation frequency can be shifted by controlling the thickness of the oxide. For native silicon devices, actuation is predicted at frequencies less than 10 MHz, in electrolytes of ionic strength up to 100 mmol/L, and thus electrostatic actuation may be feasible in many bioMEMS and other microfluidic applications.

  1. Cryogenic Fluid Transfer Components Using Single Crystal Piezoelectric Actuators Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid transfer components using single crystal piezoelectric actuators are proposed to enable low thermal mass, minimal heat leak, low power consumption...

  2. Reliable Actuator for Cryo Propellant Fluid Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Fluid handling applications in cryogenic and extreme environments require reliable actuation technology that can handle extreme temperatures, mechanical bind-up...

  3. Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

    CERN Document Server

    Rakotomanga, Novona; Caro, Stéphane

    2008-01-01

    This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared.

  4. Micromachined Piezoelectric Actuators for Cryogenic Adaptive Optics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — TRS Technologies proposes micromachined single crystal piezoelectric actuator arrays to enable ultra-large stroke, high precision shape control for large aperture,...

  5. Low input voltage switching amplifiers for piezoelectric actuators

    Science.gov (United States)

    Lindner, Douglas K.; Zhu, Huiyu; Song, Chunping; Huang, Weixing; Cheng, Danling

    2002-07-01

    The Inertially Stabilized Rifle is a new stabilized rifle system that can eliminate the disturbances induced by the shooter. Recurve actuator is used in this system to provide the precise movement of the rifle barrel. In such a portable device, only low voltage electrical sources are available yet the piezoelectric actuator needs high voltage to drive the actuator. The actuators consume little real power but a large amount of reactive power. Furthermore, the piezoelectric actuators are present an almost purely capacitive load. In this paper, we describe the development of a low input voltage amplifier for a high voltage piezoelectric actuator. This amplifier is based on switching technology so it efficiently handles the regenerative energy from the piezoelectric actuator. This amplifier consists of two stages. The first stage is a flyback converter which boosts the (low) input voltage to the maximum voltage required by the piezoelectric actuator. The second stage is a half-bridge amplifier which delivers the output voltage to the actuator as commanded by the reference signal. The basic structure of the amplifier is described, and its performance is characterized in terms of bandwidth, distortion, and efficiency.

  6. Energy Efficient Wireless Vehicular-Guided Actuator Network

    KAUST Repository

    Boudellioua, Imene

    2013-06-09

    In this paper, we present an energy-efficient vehicular guided system for environmental disaster management using wireless sensor/actuator networks. Sensor nodes within clusters are controlled by a master node that is dynamically selected. Actuators support mobility for every sensor node in the area of interest. The system maintains energy efficiency using statistical, correlation, and confidence for determining actuator actions and implements an adaptive energy scheme to prolong the system lifespan. Experimental results show that the system is capable of saving up to 2.7Watt for every 28KByte of data exchanged. We also show that actuator actions are correct with a 90% confidence.

  7. Review of actuators for high speed active flow control

    Institute of Scientific and Technical Information of China (English)

    WANG Lin; LUO ZhenBing; XIA ZhiXun; LIU Bing; DENG Xiong

    2012-01-01

    Actuators are one of the key points for the development of active flow control technology.Efficient methods of high speed flow control can provide enhanced propulsive efficiency and at the same time enable safe and maneuverable high speed flight.The development of high speed flight technology promotes the emergence of novel and robust actuators.This review introduces the state of the art in the development of actuators that can be used in high speed active flow control.The classification and different operation criteria of the actuators are discussed.The specifications,mechanisms and applications of various popular actuator types including fluidic,mechanical,and plasma actuators are described.Based on the realistic need of high speed flow control and the existing results of actuators,a new actuator design method is proposed.At last,the merits and drawbacks of the actuators are summarized and some suggestions on the development of active flow control technology are put forward.

  8. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....

  9. Actuation precision control of SMA actuators used for shape control of inflatable SAR antenna

    Science.gov (United States)

    Peng, Fujun; Jiang, Xin-Xiang; Hu, Yan-Ru; Ng, Alfred

    2008-09-01

    Shape memory alloy (SMA) actuators have found a wide range of applications due to their unique properties such as high force, long stroke, small size, light weight, silent operation, etc. However, their poor stability and controllability make them a challenge to achieve accurate actuation. This paper presents a simple control strategy based on the idea of adjusting the SMA wire temperature as fast as possible. This strategy is simple, stable, and requires no hysteresis model or thermal model. This strategy is tested with displacement output, and the effects of updating rate and input current on control accuracy are also discussed. Tests are also performed in a thermal vacuum chamber, and the results indicate that the required current for effectively activating SMA actuator is smaller than that in air environment. This control strategy is then used for adjusting boundary tensions of a small membrane synthetic aperture radar (SAR) antenna model. Results show that, under this control strategy, SMA wire actuators can exert desired tensions with very good accuracy.

  10. Electrochemical actuator with a short response time: A new actuation regime

    NARCIS (Netherlands)

    Svetovoy, Vitaly B.; Uvarov, Ilia; Postnikov, Alexander V.; Sanders, Remco G.P.; Krijnen, Gijs

    2016-01-01

    The lack of fast and strong microactuators is a well-recognized problem in the MEMS community. Electro- chemical actuators can develop high pressure but they are notoriously slow. Water electrolysis produced by short voltage pulses of alternating polarity can overcome the problem of slow gas termina

  11. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    International Nuclear Information System (INIS)

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  12. Iridium oxide as actuator material for the ISFET-based sensor-actuator system

    NARCIS (Netherlands)

    Olthuis, W.; Bomer, J.; Bergveld, P.; Linden, van der W.E.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with Coulometrically generated OH- or H+ ions at a noble-metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. The ISFET is used as the indicator electrode to detect the equivalence point i

  13. Tactile sensor integrated dielectric elastomer actuator for simultaneous actuation and sensing

    Science.gov (United States)

    Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru

    2016-04-01

    Dielectric elastomers (DE) are a subgroup of electroactive polymers which may be used as soft transducers. Such soft transducers exhibit high energy density and silent operation, which makes them desirable for life-like robotic systems such as a robotic hand. A robotic hand must be able to sense the object being manipulated, in terms of normal and shear force being applied, and note when contact has been achieved or lost. To this end, a dielectric elastomer actuator (DEA) with integrated tactile sensing has been developed to provide simultaneous actuation and sensing. The tactile sensing dielectric elastomer actuator consists of a unimorph-type structure, where the active portion is a laminate of alternating DE and electrode material which expands under applied voltage, and the sensing portion is a stiffer sensing dielectric elastomer which has no electrical connection to the active portion. Under applied voltage, the deformation of the active portion expands but is constrained on one side by the sensing portion, resulting in bending actuation. The sensing portion is a DE with electrodes patterned to form 2x2 capacitive sensing arrays. Dome-shaped bumps positioned over the sensing arrays redistribute tactile forces onto the sensor segments, so that measurement of the capacitance change across the array allows for reconstruction of magnitude and direction of the incoming force.

  14. A jellyfish-like swimming mini-robot actuated by an electromagnetic actuation system

    International Nuclear Information System (INIS)

    Among the various kinds of actuations for biomimetic robots, the electromagnetic actuation (EMA) method has been regarded as the one with the most potential. This paper proposes a jellyfish-like swimming mini-robot actuated by an EMA system in three-dimensional (3D) space. The jellyfish-like mini-robot has four flexible fins, each of which is equipped with a permanent magnet for electromagnetic actuation; the robot’s body is 17 mm long and 0.5 mm thick. Our EMA system was able to generate a uniform magnetic field in a desired direction in 3D space, which could bend the fins of the jellyfish-like mini-robot. Therefore, a cyclic change in the uniform magnetic field, in the EMA system, would synchronize the fluctuation of the fins and could generate a propulsion force for the robot, in the desired direction. In order to maximize the propulsion force of the jellyfish-like mini-robot, the waveform and frequency of the input current in the EMA system are optimized. Consequently, our jellyfish-like mini-robot was able to generate maximum propulsion force when a square waveform input current (13 A magnitude and 10 Hz frequency) was applied to the EMA system. Finally, the jellyfish-like mini-robot with the EMA system was able to perform various 3D swimming motions. (technical note)

  15. Actuator topology design using the controllability Gramian

    DEFF Research Database (Denmark)

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar

    2015-01-01

    system. Analytical sensitivities for the finite element model are derived for the objective function and constraints. Results are shown for two dimensional vibration control of a short beam with varying number of electrodes (control inputs) and vibration modes.......This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...

  16. FLEXIBLE STRUCTURE WITH INTEGRATED SENSOR/ACTUATOR

    DEFF Research Database (Denmark)

    2003-01-01

    A polymer-based flexible structure with integrated sensing/actuator means is presented. Conventionally, silicon has been used as a piezo-resistive material due to its high gauge factor and thereby high sensitivity to strain changes in a sensor. By using the fact that e.g. an SU-8 based polymer...... is much softer than silicon and that e.g. a gold resistor is easily incorporated in SU-8 based polymer structure it has been demonstrated that a SU-8 based cantilever sensor is almost as sensitive to stress changes as the silicon piezo-resistive cantilever....

  17. Engineering aspects of multilayer piezoceramic actuators

    International Nuclear Information System (INIS)

    With the increasing demand for multilayer ceramic chip components a full understanding of the co-firing of ceramics with metal electrodes becomes important. In the present work the processing of a piezoelectric monolithic actuator by stacking and cofiring Ag-Pd electroded tape cast layers was studied. The inter-diffusion and microstructure of the co-fired interface of PZT ferroelectrics and Ag-Pd metal electrode were examined by scanning electron microscopy (SEM) and energy-dispersive microanalysis. No strong structural distortions and interdiffusion were observed at the co-fired ceramic-electrode interface

  18. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, David Schramm, Lewis D. Meixler, Charles A. Gentile, George Ascione, Carl Tilson, and Kelsey Pagdon

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and now contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input. These recent developments are important attributes in the field of electroactivity because of the ability of contraction and contraction-expansion to produce biomimetric motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to determine the mechanisms during contraction of these EAPs.

  19. Motor-Driven Giant Magnetostrictive Actuator

    DEFF Research Database (Denmark)

    Zhang, Lihui; Xia, Yongming; Lu, Kaiyuan;

    2015-01-01

    A typical giant magnetostrictive actuator (GMA) expands a magnetostrictive rod to generate strain by varying the current in the coil that surrounds the magnetostrictive rod. The heat generated by the current deteriorates the GMA performance. In particular, a constant current in the coil is required....... The magnetic field in the iron-gallium alloy (Galfenol), which is a type of magnetostrictive material, is periodically altered by rotating the permanent magnets instead of varying the coil current in the traditional GMA. The proposed MDGMA not only achieves continuous adjustment of the output strain, but can...

  20. Considerations for Contractile Electroactive Materials and Actuators

    International Nuclear Information System (INIS)

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and now contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input. These recent developments are important attributes in the field of electroactivity because of the ability of contraction and contraction-expansion to produce biomimetric motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to determine the mechanisms during contraction of these EAPs.

  1. Dynamic Behaviour of Nanoscale Electrostatic Actuators

    Institute of Scientific and Technical Information of China (English)

    林文惠; 赵亚溥

    2003-01-01

    The dynamic behaviour for nanoscale electrostatic actuators is studied.A two parameter mass-spring model is shown to exhibit a bifurcation from the case excluding an equilibrium point to the case including two equilibrium points as the geometrical dimensions of the device are altered.Stability analysis shows that one is a stable Hopf bifurcation point and the other is an unstable saddle point.In addition,we plot the diagram phases,which have periodic orbits around the Hopf point and a homoclinic orbit passing though the unstable saddle point.

  2. Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators

    Directory of Open Access Journals (Sweden)

    Janno Torop

    2009-12-01

    Full Text Available Devices using electroactive polymer-supported carbon material can be exploited as alternatives to conventional electromechanical actuators in applications where electromechanical actuators have some serious deficiencies. One of the numerous examples is precise microactuators. In this paper, we show for first time the dilatometric effect in nanocomposite material actuators containing carbide-derived carbon (CDC and polytetrafluoroetylene polymer (PTFE. Transducers based on high surface area carbide-derived carbon electrode materials are suitable for short range displacement applications, because of the proportional actuation response to the charge inserted, and high Coulombic efficiency due to the EDL capacitance. The material is capable of developing stresses in the range of tens of N cm-2. The area of an actuator can be dozens of cm2, which means that forces above 100 N are achievable. The actuation mechanism is based on the interactions between the high-surface carbon and the ions of the electrolyte. Electrochemical evaluations of the four different actuators with linear (longitudinal action response are described. The actuator electrodes were made from two types of nanoporous TiC-derived carbons with surface area (SA of 1150 m2 g-1 and 1470 m2 g-1, respectively. Two kinds of electrolytes were used in actuators: 1.0 M tetraethylammonium tetrafluoroborate (TEABF4 solution in propylene carbonate and pure ionic liquid 1-ethyl-3-methylimidazolium trifluoromethanesulfonate (EMITf. It was found that CDC based actuators exhibit a linear movement of about 1% in the voltage range of 0.8 V to 3.0 V at DC. The actuators with EMITf electrolyte had about 70% larger movement compared to the specimen with TEABF4 electrolyte.

  3. An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

    OpenAIRE

    Guojun Liu; Yanyan Zhang; Jianfang Liu; Jianqiao Li; Chunxiu Tang; Tengfei Wang; Xuhao Yang

    2016-01-01

    An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume c...

  4. Electrostatic comb drive for vertical actuation

    Energy Technology Data Exchange (ETDEWEB)

    Lee, A. P., LLNL

    1997-07-10

    The electrostatic comb finger drive has become an integral design for microsensor and microactuator applications. This paper reports on utilizing the levitation effect of comb fingers to design vertical-to-the-substrate actuation for interferometric applications. For typical polysilicon comb drives with 2 {micro}m gaps between the stationary and moving fingers, as well as between the microstructures and the substrate, the equilibrium position is nominally 1-2 {micro}m above the stationary comb fingers. This distance is ideal for many phase shifting interferometric applications. Theoretical calculations of the vertical actuation characteristics are compared with the experimental results, and a general design guideline is derived from these results. The suspension flexure stiffnesses, gravity forces, squeeze film damping, and comb finger thicknesses are parameters investigated which affect the displacement curve of the vertical microactuator. By designing a parallel plate capacitor between the suspended mass and the substrate, in situ position sensing can be used to control the vertical movement, providing a total feedback-controlled system. Fundamentals of various capacitive position sensing techniques are discussed. Experimental verification is carried out by a Zygo distance measurement interferometer.

  5. Microelectromechanical systems integrating molecular spin crossover actuators

    Science.gov (United States)

    Manrique-Juarez, Maria D.; Rat, Sylvain; Mathieu, Fabrice; Saya, Daisuke; Séguy, Isabelle; Leïchlé, Thierry; Nicu, Liviu; Salmon, Lionel; Molnár, Gábor; Bousseksou, Azzedine

    2016-08-01

    Silicon MEMS cantilevers coated with a 200 nm thin layer of the molecular spin crossover complex [Fe(H2B(pz)2)2(phen)] (H2B(pz)2 = dihydrobis(pyrazolyl)borate and phen = 1,10-phenantroline) were actuated using an external magnetic field and their resonance frequency was tracked by means of integrated piezoresistive detection. The light-induced spin-state switching of the molecules from the ground low spin to the metastable high spin state at 10 K led to a well-reproducible shift of the cantilever's resonance frequency (Δfr = -0.52 Hz). Control experiments at different temperatures using coated as well as uncoated devices along with simple calculations support the assignment of this effect to the spin transition. This latter translates into changes in mechanical behavior of the cantilever due to the strong spin-state/lattice coupling. A guideline for the optimization of device parameters is proposed so as to efficiently harness molecular scale movements for large-scale mechanical work, thus paving the road for nanoelectromechanical systems (NEMS) actuators based on molecular materials.

  6. Variable Frequency Diverter Actuation for Flow Control

    Science.gov (United States)

    Culley, Dennis E.

    2006-01-01

    The design and development of an actively controlled fluidic actuator for flow control applications is explored. The basic device, with one input and two output channels, takes advantage of the Coanda effect to force a fluid jet to adhere to one of two axi-symmetric surfaces. The resultant flow is bi-stable, producing a constant flow from one output channel, until a disturbance force applied at the control point causes the flow to switch to the alternate output channel. By properly applying active control the output flows can be manipulated to provide a high degree of modulation over a wide and variable range of frequency and duty cycle. In this study the momentary operative force is applied by small, high speed isolation valves of which several different types are examined. The active fluidic diverter actuator is shown to work in several configurations including that in which the operator valves are referenced to atmosphere as well as to a source common with the power stream.

  7. Electric actuator for the sempell gate valve

    Energy Technology Data Exchange (ETDEWEB)

    Herbstritt, E.C.

    1996-12-01

    The automation of valves has a primary importance in the scope of central control and regulation of power generation processes in power plants and especially in nuclear power plants. AUMA WERNER RIESTER GmbH & Co. KG is considered a leading manufacturer of electric actuators for the automation of valves. More than 30 years experience in designing, developing, and manufacturing provide a sound basis for offering reliable products, especially for nuclear applications. The quality assurance system of AUMA was developed according to 10 CFR 50, Appendix B and has been consistently accomplished. The program was certified by the TUV Germany (Technical Authorized Inspection Agency), according to ISO-9001, in 1994. AUMA offers two actuator type ranges for application in nuclear power plants. The range SAI is qualified according to IEEE 382-1978 and is designed for inside containment. The range SAN is qualified according to IEEE 382-1985 and KTA 3504-1988 for use in non-radioactive applications in the nuclear power plants.

  8. Stress measurements of planar dielectric elastomer actuators.

    Science.gov (United States)

    Osmani, Bekim; Aeby, Elise A; Müller, Bert

    2016-05-01

    Dielectric elastomer actuator (DEA) micro- and nano-structures are referred to artificial muscles because of their specific continuous power and adequate time response. The bending measurement of an asymmetric, planar DEA is described. The asymmetric cantilevers consist of 1 or 5 μm-thin DEAs deposited on polyethylene naphthalate (PEN) substrates 16, 25, 38, or 50 μm thick. The application of a voltage to the DEA electrodes generates an electrostatic pressure in the sandwiched silicone elastomer layer, which causes the underlying PEN substrate to bend. Optical beam deflection enables the detection of the bending angle vs. applied voltage. Bending radii as large as 850 m were reproducibly detected. DEA tests with electric fields of up to 80 V/μm showed limitations in electrode's conductivity and structure failures. The actuation measurement is essential for the quantitative characterization of nanometer-thin, low-voltage, single- and multi-layer DEAs, as foreseen for artificial sphincters to efficiently treat severe urinary and fecal incontinence. PMID:27250436

  9. Electrostatically actuated resonant switches for earthquake detection

    KAUST Repository

    Ramini, Abdallah H.

    2013-04-01

    The modeling and design of electrostatically actuated resonant switches (EARS) for earthquake and seismic applications are presented. The basic concepts are based on operating an electrically actuated resonator close to instability bands of frequency, where it is forced to collapse (pull-in) if operated within these bands. By careful tuning, the resonator can be made to enter the instability zone upon the detection of the earthquake signal, thereby pulling-in as a switch. Such a switching action can be functionalized for useful functionalities, such as shutting off gas pipelines in the case of earthquakes, or can be used to activate a network of sensors for seismic activity recording in health monitoring applications. By placing a resonator on a printed circuit board (PCB) of a natural frequency close to that of the earthquake\\'s frequency, we show significant improvement on the detection limit of the EARS lowering it considerably to less than 60% of the EARS by itself without the PCB. © 2013 IEEE.

  10. Probing Cell Deformability via Acoustically Actuated Bubbles.

    Science.gov (United States)

    Xie, Yuliang; Nama, Nitesh; Li, Peng; Mao, Zhangming; Huang, Po-Hsun; Zhao, Chenglong; Costanzo, Francesco; Huang, Tony Jun

    2016-02-17

    An acoustically actuated, bubble-based technique is developed to investigate the deformability of cells suspended in microfluidic devices. A microsized bubble is generated by an optothermal effect near the targeted cells, which are suspended in a microfluidic chamber. Subsequently, acoustic actuation is employed to create localized acoustic streaming. In turn, the streaming flow results in hydrodynamic forces that deform the cells in situ. The deformability of the cells is indicative of their mechanical properties. The method in this study measures mechanical biomarkers from multiple cells in a single experiment, and it can be conveniently integrated with other bioanalysis and drug-screening platforms. Using this technique, the mean deformability of tens of HeLa, HEK, and HUVEC cells is measured to distinguish their mechanical properties. HeLa cells are deformed upon treatment with Cytochalasin. The technique also reveals the deformability of each subpopulation in a mixed, heterogeneous cell sample by the use of both fluorescent markers and mechanical biomarkers. The technique in this study, apart from being relevant to cell biology, will also enable biophysical cellular diagnosis.

  11. Wireless actuation of bulk acoustic modes in micromechanical resonators

    Science.gov (United States)

    Mateen, Farrukh; Brown, Benjamin; Erramilli, Shyamsunder; Mohanty, Pritiraj

    2016-08-01

    We report wireless actuation of a Lamb wave micromechanical resonator from a distance of over 1 m with an efficiency of over 15%. Wireless actuation of conventional micromechanical resonators can have broad impact in a number of applications from wireless communication and implantable biomedical devices to distributed sensor networks.

  12. A system look at electromechanical actuation for primary flight control

    NARCIS (Netherlands)

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs)

  13. Stability and stabilization of linear systems with saturating actuators

    CERN Document Server

    Tarbouriech, Sophie; Gomes da Silva Jr, João Manoel; Queinnec, Isabelle

    2011-01-01

    Gives the reader an in-depth understanding of the phenomena caused by the more-or-less ubiquitous problem of actuator saturation. Proposes methods and algorithms designed to avoid, manage or overcome the effects of actuator saturation. Uses a state-space approach to ensure local and global stability of the systems considered. Compilation of fifteen years' worth of research results.

  14. Actuator and electronics packaging for extrinsic humanoid hand

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Diftler, Myron A. (Inventor); Reich, David M. (Inventor); Askew, Scott R. (Inventor)

    2013-01-01

    The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

  15. New ankle actuation mechanism for a humanoid robot

    NARCIS (Netherlands)

    Oort, van Gijs; Reinink, Roelof; Stramigioli, Stefano

    2011-01-01

    In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and no

  16. Pedot and PPy Conducting Polymer Bilayer and Trilayer Actuators

    DEFF Research Database (Denmark)

    Zainudeen, Umer Lebbe; Careem, Mohamed Abdul; Skaarup, Steen

    2008-01-01

    attempts have been made to improve the actuator performance. We report electromechanical measurements on actuators of bilayer and trilayer free standing films prepared with polypyrrole (PPy) and poly(3,4-ethylenedioxythiophene) (PEDOT) conducting polymers. Both types of conducting polymer are pre...

  17. On the mechanical efficiency of dielectric barrier discharge plasma actuators

    NARCIS (Netherlands)

    Giepman, R.H.M.; Kotsonis, M.

    2011-01-01

    The mechanical power production and electrical power consumption of the dielectric barrier discharge plasma actuator is investigated for different operating conditions. The ratio of these two values delivers the mechanical efficiency of the actuator as a flow acceleration device. The general trend i

  18. Finite element analysis of multilayer DEAP stack-actuators

    Science.gov (United States)

    Kuhring, Stefan; Uhlenbusch, Dominik; Hoffstadt, Thorben; Maas, Jürgen

    2015-04-01

    Dielectric elastomers (DE) are thin polymer films belonging to the class of electroactive polymers (EAP). They are coated with compliant and conductive electrodes on each side, which make them performing a relative high amount of deformation with considerable force generation under the influence of an electric field. Because the realization of high electric fields with a limited voltage level requests single layer polymer films to be very thin, novel multilayer actuators are utilized to increase the absolute displacement and force. In case of a multilayer stack-actuator, many actuator films are mechanically stacked in series and electrically connected in parallel. Because there are different ways to design such a stack-actuator, this contribution considers an optimization of some design parameters using the finite element analysis (FEA), whereby the behavior and the actuation of a multilayer dielectric electroactive polymer (DEAP) stack-actuator can be improved. To describe the material behavior, first different material models are compared and necessary material parameters are identified by experiments. Furthermore, a FEA model of a DEAP film is presented, which is expanded to a multilayer DEAP stack-actuator model. Finally, the results of the FEA are discussed and conclusions for design rules of optimized stack-actuators are outlined.

  19. Dielectric barrier Discharge Plasma Actuator Characterization and Application

    NARCIS (Netherlands)

    Correale, G.

    2016-01-01

    An experimental investigation about nanosecond Dielectric Barrier Discharge (ns-DBD) plasma actuator is presented in this thesis. This work aimed to answer fundamental questions on the actuation mechanism of this device. In order to do so, parametric studies in a quiescent air as well as laminar bou

  20. Fuzzy control of electro-mechanical gearbox actuator

    Institute of Scientific and Technical Information of China (English)

    G Iordanidis; P H Mellor; D Holliday; P M Churn

    2003-01-01

    In this paper, a prototype direct-drive electro-mechanical actuator is proposed to select gears in a high performance gearbox. Because of the nonlinear behavior of the actuator, a fuzzy logic controller is adopted. The result of simulation has proved that the dynamic response obtained using the fuzzy controller is much faster than that obtained using traditional PD controller.

  1. Tip loss correction for actuator / Navier Stokes computations

    DEFF Research Database (Denmark)

    Shen, Wen Zhong; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming

    2004-01-01

    The new tip loss correction, initially developed for ID BEM computations [1], is now extended to 2D Actuator Disc / Navier-Stokes (AD/NS) computations and 3D Actuator Line / Navier-Stokes (AL/NS) computations. As shown in the paper, the tip loss correction is an important and necessary step...

  2. Leaf spring, and electromagnetic actuator provided with a leaf spring

    NARCIS (Netherlands)

    Berkhoff, Arthur Perry; Lemmen, Remco Louis Christiaan

    2002-01-01

    The invention relates to a leaf spring for an electromagnetic actuator and to such an electromagnetic actuator. The leaf spring is formed as a whole from a disc of plate-shaped, resilient material. The leaf spring comprises a central fastening part, an outer fastening part extending therearound and

  3. Architecture Optimization of More Electric Aircraft Actuation System

    Institute of Scientific and Technical Information of China (English)

    QI Haitao; FU Yongling; QI Xiaoye; LANG Yan

    2011-01-01

    The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology,which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system.The traditional “trial and error” method cannot satisfy the design demands.In this paper,firstly,the composition of more electric aircraft(MEA) flight control actuation system(FCAS) is introduced,and the possible architecture quantity is calculated.Secondly,the evaluation criteria of FCAS architecture with respect to safe reliability,weight and efficiency are proposed,and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration.Finally,the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm(GA).Compared to the traditional actuation system architecture,which only adopts servo valve controlled hydraulic actuators,the weight of the optimized more electric actuation system architecture can be reduced by 6%,and the efficiency can be improved by 30% based on the safe reliability requirements.

  4. Analysis and simulation of fully ankle actuated planar bipedal robots

    NARCIS (Netherlands)

    Franken, Michel; Oort, van Gijs; Stramigioli, Stefano

    2008-01-01

    This paper deals with the analysis of planar bipedal robots, based on passive dynamic walkers, which are actuated only by actuation of the ankle joints. An overview of the major design characteristics of such robots and their influence on the feasibility of a stable limit cycle is presented. It is s

  5. Structure-property relations of gold and graphene nanoporous actuators

    NARCIS (Netherlands)

    Saane, Siva Shankar Reddy

    2015-01-01

    Electrochemical nanoporous actuators have low weight, large specific surface areas and low voltage operating capabilities, making them attractive for application in small-scale electromechanical devices. The actuation strain of these materials at the macroscopic scale is a manifestation of microscop

  6. Pneumatically Actuated Miniature Peristaltic Vacuum Pumps

    Science.gov (United States)

    Feldman, Sabrina; Feldman, Jason; Svehla, Danielle

    2003-01-01

    Pneumatically actuated miniature peristaltic vacuum pumps have been proposed for incorporation into advanced miniature versions of scientific instruments that depend on vacuum for proper operation. These pumps are expected to be capable of reaching vacuum-side pressures in the torr to millitorr range (from .133 down to .0.13 Pa). Vacuum pumps that operate in this range are often denoted roughing pumps. In comparison with previously available roughing pumps, these pumps are expected to be an order of magnitude less massive and less power-hungry. In addition, they would be extremely robust, and would operate with little or no maintenance and without need for oil or other lubricants. Portable mass spectrometers are typical examples of instruments that could incorporate the proposed pumps. In addition, the proposed pumps could be used as roughing pumps in general laboratory applications in which low pumping rates could be tolerated. The proposed pumps could be designed and fabricated in conventionally machined and micromachined versions. A typical micromachined version (see figure) would include a rigid glass, metal, or plastic substrate and two layers of silicone rubber. The bottom silicone layer would contain shallow pump channels covered by silicone arches that could be pushed down pneumatically to block the channels. The bottom silicone layer would be covered with a thin layer of material with very low gas permeability, and would be bonded to the substrate everywhere except in the channel areas. The top silicone layer would be attached to the bottom silicone layer and would contain pneumatic- actuation channels that would lie crosswise to the pump channels. This version is said to be micromachined because the two silicone layers containing the channels would be fabricated by casting silicone rubber on micromachined silicon molds. The pneumatic-actuation channels would be alternately connected to a compressed gas and (depending on pump design) either to atmospheric

  7. Advanced Electroactive Single Crystal and Polymer Actuator Concepts for Passive Optics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — TRS Technologies proposes large stroke and high precision piezoelectric single crystal and electroactive polymer actuator concepts?HYBrid Actuation System (HYBAS)...

  8. Repulsive Magnetic Bearing Using a Piezoelectric Actuator for Stabilization

    Science.gov (United States)

    Mizuno, Takeshi; Aizawa, Mitsunori

    A repulsive magnetic bearing system equipped with a piezoelectric actuator for the motion control of permanent magnets is studied experimentally. In this system, the radial motions of the rotor are passively supported by repulsive forces between permanent magnets. The motion in the axial direction is stabilized by moving the permanent magnets for radial suspension with a piezoelectric actuator. In the experiments, a piezoelectric actuator with a stroke of 200µm was installed first. PD and I-PD controllers were applied to achieve levitation without any mechanical contact. It was experimentally shown that the dynamic characteristics of the levitation system could be adjusted by pole assignment. Next the actuator was replaced by an actuator with a stoke of 90µm. Experimental results demonstrated that the rotor can follow stepwise command signal whose magnitude was within ±20µm.

  9. Piezoelectric stack actuator parameter extraction with hysteresis compensation

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Mangeot, Charles; Andersen, Michael A. E.;

    2014-01-01

    The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...... exhibited by piezoelectric ceramics causes losses. Therefore, this paper presents a straightforward method to measure piezoelectric stack actuator equiv- alent parameters that includes nonlinearities. By folding the nonlinearities into a newly-defined cou- pling coefficient, the inherent hysteretic behavior...... of piezoelectric stack actuators can be greatly reduced through precompensation. Experimental results show a fitting accuracy of 98.8 % between the model and measurements and a peak absolute error reduction by a factor of 10 compared to the manufacturer- provided parameter. This method improves both the static...

  10. Photostrictive actuators for photonic control of shallow spherical shells

    Science.gov (United States)

    Shih, Hui-Ru; Tzou, Horn-Sen

    2007-10-01

    Photostrictive materials, exhibiting light-induced strain, are of interest for the future generation of wireless remote control photo-actuators. Photostrictive actuators are expected to be used as the driving component in optically controlled flexible structures. In this paper, the photonic control of flexible spherical shells using discrete photostrictive actuators is investigated. This paper presents a coupled opto-piezothermoelastic shell theory that incorporates photovoltaic, pyroelectric and piezoelectric effects, and has the capability to predict the response of a spherical shell driven by the photostrictive actuators. In this study, the effects of actuator location as well as membrane and bending components on the control action have been analyzed. The results obtained indicate that the control forces are mode and location dependent. Analysis also shows that the membrane control action is much more significant than the bending control action.

  11. Development of microfabricated magnetic actuators for removing cellular occlusion

    International Nuclear Information System (INIS)

    Here we report on the development of torsional magnetic microactuators for displacing biological materials in implantable catheters. Static and dynamic behaviors of the devices were characterized in air and in fluid using optical experimental methods. The devices were capable of achieving large deflections (>60°) and had resonant frequencies that ranged from 70 Hz to 1.5 kHz in fluid. The effect of long-term actuation (>2.5 × 108 cycles) was quantified using resonant shift as the metric (f < 2%). The cell-clearing capabilities of the devices were evaluated by examining the effect of actuation on a layer of aggressively growing adherent cells. On average, actuated microdevices removed 37.4% of the adherent cell layer grown over the actuator surface. The effects of actuation time, deflection angle and beam geometry were evaluated. The experimental results indicate that physical removal of adherent cells at the microscale is feasible using magnetic microactuation

  12. Jet Vectoring Control Using a Novel Synthetic Jet Actuator

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A primary air jet vectoring control system with a novel synthetic jet actuator (SJA) is presented and simulated numerically. The results show that, in comparison with an existing traditional synthetic jet actuator, which is able to perform the duty of either "push" or "pull", one novel synthetic jet actuator can fulfill both "push" and "pull" functions to vector the primary jet by shifting a slide block inside it. Therefore, because the new actuator possesses greater efficiency, it has potentiality to replace the existing one in various applications, such as thrust vectoring and the reduction of thermal signature. Moreover, as the novel actuator can fulfill those functions that the existing one can not, it may well be expected to popularize it into more flow control systems.

  13. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Directory of Open Access Journals (Sweden)

    Anna Filasova

    2011-01-01

    Full Text Available Control reconfiguration changes the control structure in response to a fault detected in the plant. This becomes necessary, because a major fault like loss of an actuator breaks the corresponding control loop and therefore renders the whole system inoperable.  An important aim of control reconfiguration is to change the control structure as little as possible, since every change bears the potential of practical problems. The proposed solution is to keep the original controller in the loop and to add an extension called virtual actuator that implements the necessary changes of the control structure. The virtual actuator translates between the signals of the nominal controller and the signal of the faulty plants. This paper is concerned with the analysis of reconfigured loop with a virtual actuator for the system with the faulty actuator. The proposed analysis is illustrated on numerical example.

  14. Adaptive actuator failure compensation and disturbance rejection scheme for spacecraft

    Institute of Scientific and Technical Information of China (English)

    Xuelian Yao; Gang Tao; Ruiyun Qi

    2014-01-01

    An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as wel as the failure signal parameter es-timates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation perfor-mance.

  15. Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB

    Science.gov (United States)

    Reaves, Mercedes C.; Horta, Lucas G.

    2003-01-01

    This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.

  16. Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper

    Directory of Open Access Journals (Sweden)

    Ganesha Udupa

    2014-01-01

    Full Text Available The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary. In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects. The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results. The actuator is fabricated using compression molding process that includes micromachining of the molds. Experiments conducted show the bending characteristics of the actuator at different pressures. The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity. The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.

  17. Shape memory system with integrated actuation using embedded particles

    Science.gov (United States)

    Buckley, Patrick R; Maitland, Duncan J

    2014-04-01

    A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

  18. Tungsten trioxide (WO3) as an actuator electrode material for ISFET-based coulometric sensor-actuator systems

    NARCIS (Netherlands)

    Kerkhof, van J.C.; Olthuis, W.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with OH− or H+ ions, coulometrically generated by the electrolysis of water at a noble metal actuator electrode. This can be done very rapidly if the actuator electrode is in close proximity to an ISFET which is used

  19. Using Diffusion Bonding in Making Piezoelectric Actuators

    Science.gov (United States)

    Sager, Frank E.

    2003-01-01

    A technique for the fabrication of piezoelectric actuators that generate acceptably large forces and deflections at relatively low applied voltages involves the stacking and diffusion bonding of multiple thin piezoelectric layers coated with film electrodes. The present technique stands in contrast to an older technique in which the layers are bonded chemically, by use of urethane or epoxy agents. The older chemical-bonding technique entails several disadvantages, including the following: It is difficult to apply the bonding agents to the piezoelectric layers. It is difficult to position the layers accurately and without making mistakes. There is a problem of disposal of hazardous urethane and epoxy wastes. The urethane and epoxy agents are nonpiezoelectric materials. As such, they contribute to the thickness of a piezoelectric laminate without contributing to its performance; conversely, for a given total thickness, the performance of the laminate is below that of a unitary piezoelectric plate of the same thickness. The figure depicts some aspects of the fabrication of a laminated piezoelectric actuator by the present diffusion- bonding technique. First, stock sheets of the piezoelectric material are inspected and tested. Next, the hole pattern shown in the figure is punched into the sheets. Alternatively, if the piezoelectric material is not a polymer, then the holes are punched in thermoplastic films. Then both faces of each punched piezoelectric sheet or thermoplastic film are coated with a silver-ink electrode material by use of a silkscreen printer. The electrode and hole patterns are designed for minimal complexity and minimal waste of material. After a final electrical test, all the coated piezoelectric layers (or piezoelectric layers and coated thermoplastic films) are stacked in an alignment jig, which, in turn, is placed in a curved press for the diffusion-bonding process. In this process, the stack is pressed and heated at a specified curing temperature

  20. Electromechanical actuator concept for the controlled and direct actuation of a hydraulic main stage

    OpenAIRE

    Ermert, Markus

    2016-01-01

    Hydraulic main stages for off highway machines have usually electromagnetic driven pilot valves. You rarely find stepper motor driven pilot systems that are directly positioning the main spool in the sectional control valve. The presented concept shows the development of an actuator in a unique setup to fulfill the requirements of most off- highway applications. Precise positioning, strength, speed and fail safe requirements were the main goals of the concept. The concept has a two phase BLDC...

  1. Silicone-Rubber Microvalves Actuated by Paraffin

    Science.gov (United States)

    Svelha, Danielle; Feldman, Sabrina; Barsic, David

    2004-01-01

    Microvalves containing silicone-rubber seals actuated by heating and cooling of paraffin have been proposed for development as integral components of microfluidic systems. In comparison with other microvalves actuated by various means (electrostatic, electromagnetic, piezoelectric, pneumatic, and others), the proposed valves (1) would contain simpler structures that could be fabricated at lower cost and (2) could be actuated by simpler (and thus less expensive) control systems. Each valve according to the proposal would include a flow channel bounded on one side by a flat surface and on the other side by a curved surface defined by an arched-cross-section, elastic seal made of silicone rubber [polydimethylsilane (PDMS)]. The seal would be sized and shaped so that the elasticity of the PDMS would hold the channel open except when the seal was pressed down onto the flat surface to close the channel. The principle of actuation would exploit the fact that upon melting or freezing, the volume of a typical paraffin increases or decreases, respectively, by about 15 percent. In a valve according to the proposal, the seal face opposite that of the channel would be in contact with a piston-like plug of paraffin. In the case of a valve designed to be normally open at ambient temperature, one would use a paraffin having a melting temperature above ambient. The seal would be pushed against the flat surface to close the channel by heating the paraffin above its melting temperature. In the case of a valve designed to be normally closed at ambient temperature, one would use a paraffin having a melting temperature below ambient. The seal would be allowed to spring away from the flat surface to open the channel by cooling the paraffin below its melting temperature. The availability of paraffins that have melting temperatures from 70 to +80 C should make it possible to develop a variety of normally closed and normally open valves. The figure depicts examples of prototype normally

  2. Mechanical Vibrations of Thermally Actuated Silicon Membranes

    Directory of Open Access Journals (Sweden)

    Lynn Fuller

    2012-03-01

    Full Text Available A thermally-actuated micro-electro-mechanical (MEMS device based on a vibrating silicon membrane has been proposed as a viscosity sensor by the authors. In this paper we analyze the vibration mode of the sensor as it vibrates freely at its natural frequency. Analytical examination is compared to finite element analysis, electrical measurements and the results obtained through real-time dynamic optical surface profilometry. The vertical movement of the membrane due to the applied heat is characterized statically and dynamically. The natural vibration mode is determined to be the (1,1 mode and good correlation is found between the analytical predictions, the simulation analysis, the observed mechanical displacement and the electrical measurements.

  3. Design and performances of JPCam actuator system

    Science.gov (United States)

    Casalta, Joan Manel; Canchado, Manuel; Molins, Albert; Redondo, Miguel; Tomàs, Albert; Catalan, Albert

    2014-07-01

    JPCam is designed to perform the Javalambre-PAU Astrophysical Survey (J-PAS), a photometric survey of the northern sky with the new JST telescope being constructed in the Observatorio Astrofísico of Javalambre in Spain by CEFCA (Centro de Estudios de Física del Cosmos de Aragón). SENER has been responsible for the design, manufacturing, verification and delivery of the JPCam Actuator System that will be installed between the Telescope and the cryogenic Camera Subsystem. The main function is to control the instrument position to guarantee the image quality required during observations in all field of view and compensate deformations produced by gravity and temperature changes. The paper summarizes the main aspects of the hexapod design and earliest information related of integration and performances tests results.

  4. A Magnetic Micropump Based on Ferrofluidic Actuation

    Directory of Open Access Journals (Sweden)

    Lung-Ming Fu

    2014-05-01

    Full Text Available A circular ferrofluidic micropump for biomedical applications is proposed comprising two ferrofluidic plugs contained within a PMMA (Polymethyl-Methacrylate microchannel and driven by a rotating stepping motor. Orthogonal and tangent-type micropumps are developed. The circular ferrofluidic micropump chip is patterned using a commercially-available CO2 laser scriber. The operation of the micropump relies on the use of magnetically-actuated ferrofluidic plugs. The ferrofluid contacts the pumped fluid but is immiscible with it. The flow rate in the two types of proposed devices can be easily controlled by adjusting the rotational velocity of the stepping motor. Results show that a maximum flow rate of 128 μl/min is obtained using the tangent-type micropump with a channel width of 1000 μm and a rotational velocity of 10 rpm with zero pressure head.

  5. Modified SCR for optically actuated triggering

    International Nuclear Information System (INIS)

    A simple inexpensive, optically actuated triggering device (optical trigger) has been developed for synchronizing pulsed lasers with signal gathering instrumentation. The heart of this device is a commercially available SCR that has been modified for light activated operation. The optical trigger delivers, into a 50-Ω load, a pulse of either 84 V with a 8.3-ns rise time and 3.5-μs width, or 42 V with a 6.2-ns rise time and 7-μs width. The device is sensitive throughout the visible and near-visible spectrum. It has a transit time of only 2.2 ns and less than 1-ns jitter. The performance of this optical trigger is examined in terms of the criteria of an ''ideal'' optical trigger and the effects of circuit and input parameters on output pulse characteristics are discussed

  6. Piezoelectrically actuated insect scale flapping wing

    Science.gov (United States)

    Mukherjee, Sujoy; Ganguli, Ranjan

    2010-04-01

    An energy method is used in order to derive the non-linear equations of motion of a smart flapping wing. Flapping wing is actuated from the root by a PZT unimorph in the piezofan configuration. Dynamic characteristics of the wing, having the same size as dragonfly Aeshna Multicolor, are analyzed using numerical simulations. It is shown that flapping angle variations of the smart flapping wing are similar to the actual dragonfly wing for a specific feasible voltage. An unsteady aerodynamic model based on modified strip theory is used to obtain the aerodynamic forces. It is found that the smart wing generates sufficient lift to support its own weight and carry a small payload. It is therefore a potential candidate for flapping wing of micro air vehicles.

  7. A compliant soft-actuator laterotactile display

    Science.gov (United States)

    Knoop, Espen; Rossiter, Jonathan

    2015-04-01

    Humans are extremely adept at eliciting useful information through touch, and the tactile domain has huge potential for handheld and wearable electronic devices. Smart materials may be central to exploiting this potential. The skin is highly sensitive to laterotactile stimulation, where tactile elements move laterally against the skin, and this modality is well suited for wearable devices. Wearable devices should be soft and compliant, in order to move with the user and be comfortable. We present and characterize a laterotactile display using soft and compliant dielectric elastomer actuators. We carry out an initial psychophysical study to determine the absolute sensitivity threshold of laterotactile stimulation, and find that at low frequencies sensitivity is higher than for normal tactile stimulation. Our results suggest that the mechanoreceptors close to the skin surface (SA1, FA1) have improved sensitivity to laterotactile stimulation. We believe our results lay the foundation for a range of new soft robotic human interface devices using smart materials.

  8. Thrust vector control using electric actuation

    Science.gov (United States)

    Bechtel, Robert T.; Hall, David K.

    1995-01-01

    Presently, gimbaling of launch vehicle engines for thrust vector control is generally accomplished using a hydraulic system. In the case of the space shuttle solid rocket boosters and main engines, these systems are powered by hydrazine auxiliary power units. Use of electromechanical actuators would provide significant advantages in cost and maintenance. However, present energy source technologies such as batteries are heavy to the point of causing significant weight penalties. Utilizing capacitor technology developed by the Auburn University Space Power Institute in collaboration with the Auburn CCDS, Marshall Space Flight Center (MSFC) and Auburn are developing EMA system components with emphasis on high discharge rate energy sources compatible with space shuttle type thrust vector control requirements. Testing has been done at MSFC as part of EMA system tests with loads up to 66000 newtons for pulse times of several seconds. Results show such an approach to be feasible providing a potential for reduced weight and operations costs for new launch vehicles.

  9. Design of shape memory alloy (SMA) actuators

    CERN Document Server

    Rao, Ashwin; Reddy, J N

    2015-01-01

    This short monograph presents an analysis and design methodology for shape memory alloy (SMA) components such as wires, beams, and springs for different applications. The solid-solid, diffusionless phase transformations in thermally responsive SMA allows them to demonstrate unique characteristics like superelasticity and shape memory effects. The combined sensing and actuating capabilities of such materials allows them to provide a system level response by combining multiple functions in a single material system. In SMA, the combined mechanical and thermal loading effects influence the functionality of such materials. The aim of this book is to make the analysis of these materials accessible to designers by developing a "strength of materials" approach to the analysis and design of such SMA components inspired from their various applications with a review of various factors influencing the design process for such materials.

  10. Dielectric elastomer actuators for octopus inspired suction cups.

    Science.gov (United States)

    Follador, M; Tramacere, F; Mazzolai, B

    2014-09-25

    Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms.

  11. Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators

    International Nuclear Information System (INIS)

    Polypyrrole (PPy) conducting polymers have shown a great potential for the fabrication of conjugated polymer-based actuating devices. Consequently, they have been a key point in developing many advanced emerging applications such as biomedical devices and biomimetic robotics. When designing an actuator, taking all of the related decision variables, their roles and relationships into consideration is of pivotal importance to determine the actuator’s final performance. Therefore, the central focus of this study is to develop an electrochemomechanical constrained multiobjective optimization model of a PPy/MWCNTs trilayer actuator. For this purpose, the objective functions are designed to capture the three main characteristics of these actuators, namely their tip vertical displacement, blocking force and response time. To obtain the optimum range of the designated decision variables within the feasible domain, a multiobjective optimization algorithm is applied while appropriate constraints are imposed. The optimum points form a Pareto surface on which they are consistently spread. The numerical results are presented; these results enable one to design an actuator with consideration to the desired output performances. For the experimental analysis, a multilayer bending-type actuator is fabricated, which is composed of a PVDF layer and two layers of PPy with an incorporated layer of multi-walled carbon nanotubes deposited on each side of the PVDF membrane. The numerical results are experimentally verified; in order to determine the performance of the fabricated actuator, its outputs are compared with a neat PPy actuator’s experimental and numerical counterparts. (paper)

  12. Miniature osmotic actuators for controlled maxillofacial distraction osteogenesis

    Science.gov (United States)

    Li, Yu-Hsien; Su, Yu-Chuan

    2010-06-01

    We have successfully demonstrated miniature actuators that are capable of converting chemical potential directly into steady mechanical movements for maxillofacial distraction osteogenesis. Pistons and diaphragms powered by osmosis are employed to provide the desired linear and volumetric displacements for bone distraction and potentially the release of bone morphogenetic proteins, respectively. The cylindrical-shaped miniature actuators are composed of polymeric materials and fabricated by molding and assembly processes. In the prototype demonstration, vapor-permeable thermoplastic polyurethane was employed as the semi-permeable material. 3 cm long actuators with piston and diaphragm radii of 1 mm and 500 µm, respectively, were fabricated and characterized. The maximum distraction force from the piston-type actuator is found to be 6 N while the piston travels at a constant velocity of 32 µm h-1 (or 0.77 mm/day) for about 1 week. Meanwhile, the release rate from the diaphragm-type actuator is measured to be constant, 0.15 µl h-1 (or 3.6 µl/day), throughout the experiment. Moreover, the sizes and output characteristics of the self-regulating actuators could readily be tailored to realize optimal distraction rate, rhythm and osteogenic activity. As such, the demonstrated miniature osmotic actuators could potentially serve as versatile apparatuses for maxillofacial distraction osteogenesis and fulfill the needs of a variety of implantable and biomedical applications.

  13. Contribution of crosstalk to the uncertainty of electrostatic actuator calibrations.

    Science.gov (United States)

    Shams, Qamar A; Soto, Hector L; Zuckerwar, Allan J

    2009-09-01

    Crosstalk in electrostatic actuator calibrations is defined as the ratio of the microphone response to the actuator excitation voltage at a given frequency with the actuator polarization voltage turned off to the response, at the excitation frequency, with the polarization voltage turned on. It consequently contributes to the uncertainty of electrostatic actuator calibrations. Two sources of crosstalk are analyzed: the first attributed to the stray capacitance between the actuator electrode and the microphone backplate, and the second to the ground resistance appearing as a common element in the actuator excitation and microphone input loops. Measurements conducted on 1/4, 1/2, and 1 in. air condenser microphones reveal that the crosstalk has no frequency dependence up to the membrane resonance frequency and that the level of crosstalk lies at about -60 dB for all three microphones-conclusions that are consistent with theory. The measurements support the stray capacitance model. The contribution of crosstalk to the measurement standard uncertainty of an electrostatic actuator calibration is therewith 0.01 dB. PMID:19739723

  14. Design and investigation of a linear smart actuator

    Science.gov (United States)

    Krishna Chaitanya, S.; Dhanalakshmi, K.

    2015-04-01

    Motors are nearly the sole constituents for actuation and driving applications, but there exist cases where their use proves to be impractical. Shape memory alloy (SMA), then revolutionized the actuator technology, thereby opening the door for new ideas and designs and with it what seemed unfeasible in the past have now become challenging. Many conventional actuators and sensors could be substituted with SMA, obtaining advantages in terms of reduction of weight, dimensions and its cost. SMAs are a group of metallic materials that revert to a predefined shape via phase transformation induced by a thermal procedure. Unlike metals that exhibit thermal expansion, SMA exhibits contraction when heated, which is larger by a hundredfold and exerts tremendous force for its small size. The focus of this work is to realize SMA wire as actuator which finds suitable applications (space, aerospace, biomechanics, etc.) where minimizing space, weight and cost are prime objectives. The accomplishments reported in this paper represent a significant development in the design of SMA actuator configurations for linear actuation. Report on design, fabrication and characterisation of the proposed system is presented. The design took advantage of converting the small linear displacement of the SMA wire into a large linear elastic motion under the influence of biasing element. From the results with control it is aspired that with further improvements on the design, the actuator can be utilized in enabling practical SMA technologies for potential robotic and commercial applications.

  15. Dielectric elastomer actuators for octopus inspired suction cups

    International Nuclear Information System (INIS)

    Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms. (paper)

  16. Elastic Cube Actuator with Six Degrees of Freedom Output

    Directory of Open Access Journals (Sweden)

    Pengchuan Wang

    2015-09-01

    Full Text Available Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF polymer actuator that unifies ordinarily separate components into a simple cubic structure. This cube actuator design incorporates elastic dielectric elastomer membranes on four faces which are coupled by a cross-shaped end effector. The inherent elasticity of each membrane greatly reduces kinematic constraint and enables a 6-DOF actuation output to be produced via the end effector. An electro-mechanical model of the cube actuator is presented that captures the non-linear hyperelastic behaviour of the active membranes. It is demonstrated that the model accurately predicts actuator displacement and blocking moment for a range of input voltages. Experimental testing of a prototype 60 mm device demonstrates 6-DOF operation. The prototype produces maximum linear and rotational displacements of ±2.6 mm (±4.3% and ±4.8° respectively and a maximum blocking moment of ±76 mNm. The capacity for full 6-DOF actuation from a compact, readily scalable and easily fabricated polymeric package enables implementation in a range of mechatronics and robotics applications.

  17. Performance Comparison of Sweeping/Steady Jet Actuators

    Science.gov (United States)

    Hirsch, Damian; Mercier, Justin; Noca, Flavio; Gharib, Morteza

    2015-11-01

    Flow control through the use of steady jet actuators has been used on various aircraft models since the late 1950's. However, the focus of recent studies has shifted towards the use of sweeping jets (fluidic oscillators) rather than steady jet actuators. In this work, experiments using various jet actuator designs were conducted at GALCIT's Lucas Wind Tunnel on a NACA 0012 vertical tail model similar to that of the Boeing 767 vertical stabilizer at Reynolds numbers ranging from 0.5 to 1.2 million. The rudder angle was fixed at 20 degrees. A total of 32 jet actuators were installed along the wingspan perpendicular to the trailing edge and the rudder shoulder of the vertical stabilizer. It is known that these types of flow control prevent separation. However, the goal of this work is to compare different jet designs and evaluate their performance. Parameters such as the number of actuators, their volumetric flow, and the wind tunnel speed were varied. The lift generation capabilities of steady and sweeping jet actuators were then compared. Another set of experiments was conducted to compare a new sweeping jet actuator design with one of the standard versions. Supported by Boeing.

  18. Effects of prestrain on behavior of dielectric elastomer actuator

    Science.gov (United States)

    Choi, Hyouk Ryeol; Jung, Kwangmok; Chuc, Nguyen Huu; Jung, Minyoung; Koo, Igmo; Koo, Jachoon; Lee, Joonho; Lee, Jonghoon; Nam, Jaedo; Cho, Misuk; Lee, Youngkwan

    2005-05-01

    Among ElectroActive Polymers (EAPs) the dielectric elastomer actuator is regarded as one of the most practically applicable in the near future. So far, its effect on the actuation phenomena has not been discussed sufficiently, although its strong dependency on prestrain is a significant drawback as an actuator. Recent observations clarifies that prestrain has the following pros and cons: prestrain plays an important role in generating large strain, whereas it rather contributes to the reduction of the strain. Prestrain provides the advantages of improving the response speed, increase of the breakdown voltage, and removing the boundary constraint caused by the inactive actuation area of the actuator. On the contrary, the elastic forces by prestrain makes the deformation smaller and the induced stress relaxation is severely detrimental as an actuator. Also, the permittivity decreases as prestrain goes up, which adds an adverse effect because the strain is proportional to the permittivity. In the present work, a comprehensive study on the effects of prestrain is performed. The key parameters affecting the overall performances are extracted and it is experimentally validated how they work on the actuation performance.

  19. Molecular engineering of polymer actuators for biomedical and industrial use

    Science.gov (United States)

    Banister, Mark; Eichorst, Rebecca; Gurr, Amy; Schweitzer, Georgette; Geronov, Yordan; Rao, Pavalli; McGrath, Dominic

    2012-04-01

    Five key materials engineering components and how each component impacted the working performance of a polymer actuator material are investigated. In our research we investigated the change of actuation performance that occurred with each change we made to the material. We investigated polymer crosslink density, polymer chain length, polymer gelation, type and density of reactive units, as well as the addition of binders to the polymer matrix. All five play a significant role and need to be addressed at the molecular level to optimize a polymer gel for use as a practical actuator material for biomedical and industrial use.

  20. Quasi-Static Analysis of LaRC THUNDER Actuators

    Science.gov (United States)

    Campbell, Joel F.

    2007-01-01

    An analytic approach is developed to predict the shape and displacement with voltage in the quasi-static limit of LaRC Thunder Actuators. The problem is treated with classical lamination theory and Von Karman non-linear analysis. In the case of classical lamination theory exact analytic solutions are found. It is shown that classical lamination theory is insufficient to describe the physical situation for large actuators but is sufficient for very small actuators. Numerical results are presented for the non-linear analysis and compared with experimental measurements. Snap-through behavior, bifurcation, and stability are presented and discussed.

  1. Nonlinear Current Control for Reluctance Actuator with Hysteresis Compensation

    OpenAIRE

    Yu-Ping Liu; Kang-Zhi Liu; Xiaofeng Yang

    2014-01-01

    The next-generation fine stage of the wafer scanner needs a suitable actuator to meet the requirements of high speed, high acceleration, and high precision. The voice coil actuator is no longer the best choice because of its large size and the heat dissipation is difficult to solve. The reluctance actuator can provide a big force based on a unique property of small volume and low current, making it a very suitable candidate. But the strong nonlinearity such as the hysteresis between the curre...

  2. Solar photovoltaic water pumping system using a new linear actuator

    OpenAIRE

    Andrada Gascón, Pedro; Castro, Javier

    2007-01-01

    In this paper a photovoltaic solar pumping system using a new linear actuator is presented. This linear actuator is a double-sided flat two-phase variable-reluctance linear stepper motor that moves a piston-type water pump with the help of a rope, a pulley and a counterweight. The entire actuator pump ensemble is controlled by a simple electronic unit that manages the electric power generated by a photovoltaic array. The proposed system is suitable for rural communities in developing...

  3. Self-Actuation of Liquid Metal via Redox Reaction.

    Science.gov (United States)

    Gough, Ryan C; Dang, Jonathan H; Moorefield, Matthew R; Zhang, George B; Hihara, Lloyd H; Shiroma, Wayne A; Ohta, Aaron T

    2016-01-13

    Presented here is a method for actuating a gallium-based liquid-metal alloy without the need for an external power supply. Liquid metal is used as an anode to drive a complementary oxygen reduction reaction, resulting in the spontaneous growth of hydrophilic gallium oxide on the liquid-metal surface, which induces flow of the liquid metal into a channel. The extent and duration of the actuation are controllable throughout the process, and the induced flow is both reversible and repeatable. This self-actuation technique can also be used to trigger other electrokinetic or fluidic mechanisms. PMID:26693856

  4. Compact, Low-Force, Low-Noise Linear Actuator

    Science.gov (United States)

    Badescu, Mircea; Sherrit, Stewart; Bar-Cohen, Yoseph

    2012-01-01

    Actuators are critical to all the robotic and manipulation mechanisms that are used in current and future NASA missions, and are also needed for many other industrial, aeronautical, and space activities. There are many types of actuators that were designed to operate as linear or rotary motors, but there is still a need for low-force, low-noise linear actuators for specialized applications, and the disclosed mechanism addresses this need. A simpler implementation of a rotary actuator was developed where the end effector controls the motion of a brush for cleaning a thermal sensor. The mechanism uses a SMA (shape-memory alloy) wire for low force, and low noise. The linear implementation of the actuator incorporates a set of springs and mechanical hard-stops for resetting and fault tolerance to mechanical resistance. The actuator can be designed to work in a pull or push mode, or both. Depending on the volume envelope criteria, the actuator can be configured for scaling its volume down to 4x2x1 cu cm. The actuator design has an inherent fault tolerance to mechanical resistance. The actuator has the flexibility of being designed for both linear and rotary motion. A specific configuration was designed and analyzed where fault-tolerant features have been implemented. In this configuration, an externally applied force larger than the design force does not damage the active components of the actuator. The actuator housing can be configured and produced using cost-effective methods such as injection molding, or alternatively, its components can be mounted directly on a small circuit board. The actuator is driven by a SMA -NiTi as a primary active element, and it requires energy on the order of 20 Ws(J) per cycle. Electrical connections to points A and B are used to apply electrical power in the resistive NiTi wire, causing a phase change that contracts the wire on the order of 5%. The actuation period is of the order of a second for generating the stroke, and 4 to 10

  5. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    None

    2001-07-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

  6. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    International Nuclear Information System (INIS)

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment

  7. Precision design aspects for friction actuation with error compensation

    International Nuclear Information System (INIS)

    Some key aspects in the design of actuators for ultra precision systems will require particular attention as actuators have to comply with ultra precision positioning and related tight specifications. The actuation is an important sub-group within the overall system to be designed. Any design failure in this sub-group will degrade drastically the machine performance. An interface analysis with immediate surrounding sub-groups is important to secure better generation of motion. In this paper, a design procedure for an actuator dedicated to generate high precision motion is presented with a discussion of some important aspects encountered when designing a friction drive. The procedure encompasses design concepts, axis stiffness, control, system dynamics, and, error compensation using a dedicated control strategy compensating for errors. A case study is discussed

  8. Output constrained IMC controllers in control systems of electromechanical actuators

    Institute of Scientific and Technical Information of China (English)

    Piotr M MARUSAK; Suwat KUNTANAPREEDA

    2015-01-01

    Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator.

  9. Aerodynamic Optimization for Distributed Electro Mechanical Actuators Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Traditional hydraulic actuation and control surface layout both limit span wise control of lift distribution, and require large volume within wing cross-section,...

  10. High Speed Magnetostrictive MEMS Actuated Mirror Deflectors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The main goal of this proposal is to develop high speed magnetostrictive and MEMS actuators for rapidly deflecting or deforming mirrors. High speed, light-weight,...

  11. Reliable Actuator for Cryo Propellant Fluid Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid handling applications require a reliable actuation technology that can handle very low temperatures. A novel EM hammer drive technology is proposed...

  12. High Speed Magnetostrictive MEMS Actuated Mirror Deflectors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop high speed magnetostrictive and MEMS actuators for rapidly deflecting or deforming mirrors. High speed, light-weight, low voltage beam...

  13. Compact Fluidic Actuator Arrays for Flow Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The overall objective of the proposed research is to design, develop and demonstrate fluidic actuator arrays for aerodynamic separation control and drag reduction....

  14. Impact-Actuated Digging Tool for Lunar Excavation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Honeybee Robotics proposes to develop a vacuum compatible, impact-actuated digging tool for the excavation of frozen and compacted regolith on the lunar surface and...

  15. On reliable control system designs. Ph.D. Thesis; [actuators

    Science.gov (United States)

    Birdwell, J. D.

    1978-01-01

    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  16. System Compliant Actuation for Structural Engine Noise Remission Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The purpose of the research into ?Compliant Actuator? design will be to demonstrate to prototype level a low profile fully integrated control mechanism. This...

  17. Manufacturing of Dielectric Barrier Discharge Plasma Actuator for Degradation Resistance

    Science.gov (United States)

    Houser, Nicole M.

    The performance and broader application of dielectric barrier discharge (DBD) plasma actuators are restricted by the manufacturing methods currently employed. In the current work, two methodologies are proposed to build robust plasma actuators for active flow control; a protective silicone oil (PDMS) treatment for hand-cut and laid tape-based actuators and a microfabrication technique for glass-based devices. The microfabrication process, through which thin film electrodes are precisely deposited onto plasma-resistant glass substrates, is presented in detail. The resulting glass-based devices are characterized with respect to electrical properties and output for various operating conditions. The longevity of microfabricated devices is compared against silicone-treated and untreated hand-made devices of comparable geometries over 60 hours of continuous operation. Both tungsten and copper electrodes are considered for microfabricated devices. Human health effects are also considered in an electromagnetic field study of the area surrounding a live plasma actuator for various operating conditions.

  18. Design Support and Analysis Tool for Pyrotechnically Actuated Valves Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Pyrotechnically actuated valves are triggered on or off by firing an explosive charge that rapidly releases large amounts of high-pressure, gas. Pyrovalves are...

  19. NanoDrill: 1 Actuator Core Acquisition System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to design, build and test a 1 kg, single actuator, sample acquisition drill. The drill uses a novel method of core or powder acquisition. The core...

  20. Overview of the Long Term Objectives of the Journal Actuators

    OpenAIRE

    Delbert Tesar

    2012-01-01

    It is a great opportunity to provide leadership and focus for the creation of a badly needed journal for intelligent actuators. Certainly, the field is just emerging from a nominal state of science, performance, cost, and universality. [...

  1. Optically triggered actuation in chitosan/reduced graphene oxide nanocomposites.

    Science.gov (United States)

    M N, Muralidharan; K P, Shinu; A, Seema

    2016-06-25

    Bio-compatible actuators which can work under optical stimulus have great future in bio-medical applications. In this work, chitosan/reduced graphene oxide (RGO) nanocomposite optical actuators were developed through a simple solvent casting technique. The photomechanical actuation of the composites is demonstrated under IR illumination. All samples exhibited contraction in length when exposed to IR light. The photomechanical stress and strain were found to increase with increasing RGO concentration. Photomechanical stress as high as 695kPa was achieved with 4wt.% RGO loading. Contrary to some other reported systems, the photomechanical stress decreased with the applied pre-strain. The actuation behaviour can be tuned either by altering the RGO content or applied pre-strain. PMID:27083800

  2. Compact Fluidic Actuator Arrays For Flow Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The overall objective of the proposed research is to design, develop and demonstrate fluidic actuator arrays for aerodynamic separation control and drag reduction....

  3. Vibration analysis of composite laminate plate excited by piezoelectric actuators.

    Science.gov (United States)

    Her, Shiuh-Chuan; Lin, Chi-Sheng

    2013-01-01

    Piezoelectric materials can be used as actuators for the active vibration control of smart structural systems. In this work, piezoelectric patches are surface bonded to a composite laminate plate and used as vibration actuators. A static analysis based on the piezoelectricity and elasticity is conducted to evaluate the loads induced by the piezoelectric actuators to the host structure. The loads are then employed to develop the vibration response of a simply supported laminate rectangular plate excited by piezoelectric patches subjected to time harmonic voltages. An analytical solution of the vibration response of a simply supported laminate rectangular plate under time harmonic electrical loading is obtained and compared with finite element results to validate the present approach. The effects of location and exciting frequency of piezoelectric actuators on the vibration response of the laminate plate are investigated through a parametric study. Numerical results show that modes can be selectively excited, leading to structural vibration control.

  4. Design and Application of Nanoscale Actuators Using Block-Copolymers

    Directory of Open Access Journals (Sweden)

    Paul D. Topham

    2010-10-01

    Full Text Available Block copolymers are versatile designer macromolecules where a “bottom-up” approach can be used to create tailored materials with unique properties. These simple building blocks allow us to create actuators that convert energy from a variety of sources (such as chemical, electrical and heat into mechanical energy. In this review we will discuss the advantages and potential pitfalls of using block copolymers to create actuators, putting emphasis on the ways in which these materials can be synthesised and processed. Particular attention will be given to the theoretical background of microphase separation and how the phase diagram can be used during the design process of actuators. Different types of actuation will be discussed throughout.

  5. Evaluation of linear DC motor actuators for control of large space structures

    OpenAIRE

    Ide, Eric Nelson

    1988-01-01

    This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...

  6. A low-power-consumption out-of-Plane electrothermal actuator

    OpenAIRE

    Girbau Sala, David; Llamas Morote, Marco Antonio; Casals Terré, Jasmina; Simó Selvas, Francisco Javier; Pradell i Cara, Lluís; Lázaro Guillén, Antoni

    2007-01-01

    This paper proposes a new vertical electrothermal actuator. It can be considered as a hybrid between the traditional in-plane buckle-beam actuator and the vertical hot-cold actuator. It is here referred to as vertical buckle beam. At identical dimensional and bias conditions, it features a displacement larger than that of other vertical electrothermal actuators proposed so far in the literature. The actuator performance is demonstrated by means of an analytical model along with finite-element...

  7. HEALTH MONITORING OF ELECTRICAL ACTUATORS FOR LANDING GEARS

    OpenAIRE

    Phillips, Paul

    2012-01-01

    There are numerous benefits associated with replacing hydraulic actuators with electrical counterparts as part of an all electric landing gear including reduced consumption of non-propulsive engine power, reduced weight, reduced cost and the elimination of hydraulic systems. The development of health monitoring systems to support the introduction of electrical actuation systems into landing gears will aid in guaranteeing reliability and to optimise landing gear maintenance activ...

  8. A global assessment of piezoelectric actuated micro-pumps

    OpenAIRE

    Hernandez, C.; Bernard, Y; Razek, A.

    2010-01-01

    Abstract This article provides an extensive outlook of different types of piezoelectric actuated micro-pumps published in the literature recently. We start by reminding the reader about the conventional operating parameters used to quantify the capabilities of these devices. After this introductory stage, we describe and classify the most prominent micro-pump's geometries found with piezoelectric actuation. At this point we identify the parameters given ...

  9. Modular Architecture of a Non-Contact Pinch Actuation Micropump

    OpenAIRE

    Ruzairi Abdul Rahim; Pei Ling Leow; Uda Hashim; Tijjani Adam; Rashidah Arsat; Pei Song Chee

    2012-01-01

    This paper demonstrates a modular architecture of a non-contact actuation micropump setup. Rapid hot embossing prototyping was employed in micropump fabrication by using printed circuit board (PCB) as a mold material in polymer casting. Actuator-membrane gap separation was studied, with experimental investigation of three separation distances: 2.0 mm, 2.5 mm and 3.5 mm. To enhance the micropump performance, interaction surface area between plunger and membrane was modeled via finite element a...

  10. Shape Control of Solar Collectors Using Shape Memory Alloy Actuators

    Science.gov (United States)

    Lobitz, D. W.; Grossman, J. W.; Allen, J. J.; Rice, T. M.; Liang, C.; Davidson, F. M.

    1996-01-01

    Solar collectors that are focused on a central receiver are designed with a mechanism for defocusing the collector or disabling it by turning it out of the path of the sun's rays. This is required to avoid damaging the receiver during periods of inoperability. In either of these two cases a fail-safe operation is very desirable where during power outages the collector passively goes to its defocused or deactivated state. This paper is principally concerned with focusing and defocusing the collector in a fail-safe manner using shape memory alloy actuators. Shape memory alloys are well suited to this application in that once calibrated the actuators can be operated in an on/off mode using a minimal amount of electric power. Also, in contrast to other smart materials that were investigated for this application, shape memory alloys are capable of providing enough stroke at the appropriate force levels to focus the collector. Design and analysis details presented, along with comparisons to test data taken from an actual prototype, demonstrate that the collector can be repeatedly focused and defocused within accuracies required by typical solar energy systems. In this paper the design, analysis and testing of a solar collector which is deformed into its desired shape by shape memory alloy actuators is presented. Computations indicate collector shapes much closer to spherical and with smaller focal lengths can be achieved by moving the actuators inward to a radius of approximately 6 inches. This would require actuators with considerably more stroke and some alternate SMA actuators are currently under consideration. Whatever SMA actuator is finally chosen for this application, repeatability and fatigue tests will be required to investigate the long term performance of the actuator.

  11. Study of a Mini-Actuator with Permanent Magnets

    Directory of Open Access Journals (Sweden)

    PETRESCU, C.

    2009-10-01

    Full Text Available The paper presents an analytical method for the determination of the magnetic force produced by a mini - actuator with permanent magnets. The results are compared with those obtained by performing a numerical field analysis with COMSOL Multiphysics, showing a very good agreement. The study reveals that the actuator has two equilibrium points, one of which is stable and the other one unstable.

  12. Electrical Properties of Macro-Fiber Composite Actuators and Sensors

    OpenAIRE

    Lloyd, Justin Michael

    2004-01-01

    Piezoceramic fiber composite (PFC) actuators and sensors offer many advantages over conventional monolithic piezoceramic devices. Conformable, durable and, when equipped with interdigitated electrodes (IDEs), more responsive than regular monolithic devices, PFCs promise to revolutionize the application of piezoelectric materials. Developed by the NASA-Langley Research Center, the Macro-Fiber Composite (MFC) actuator and sensor is the most sophisticated PFC device yet invented. With superio...

  13. Missile autopilot design considering uncertainties in aerodynamics and actuator dynamics

    Science.gov (United States)

    Song, Yong D.; Hou, J.; Fogson, F.

    2000-07-01

    This work presents a method for missile autopilot design in the presence of actuator and uncertain dynamics. Nonlinear control algorithms are derived based on both missile aerodynamics and actuator dynamics. To account for system nonlinearities and uncertainties due to varying flight conditions, a memory-based compensation unit is developed and integrated into the strategy. Simulation on EMRAAT missile validates the effectiveness of the proposed control method.

  14. Dielectric barrier discharge plasma actuator for flow control

    Science.gov (United States)

    Opaits, Dmitry Florievich

    Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low

  15. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  16. A Complete Analysis for Pump Controlled Single Rod Actuators

    OpenAIRE

    Çalışkan,Hakan; Balkan, Tuna; Platin, Bülent E.

    2016-01-01

    In the current study a variable speed pump controlled hydrostatic circuit where an underlapped shuttle valve is utilized to compensate the unequal flow rate of a single rod actuator is analyzed. Parameters of the shuttle valve are included in the system analysis, rather than treating it as an ideal switching element as handled in literature. A linearized model of the system is obtained. An inverse kinematic model, which calculates the required pump drive speed for a desired actuator speed and...

  17. Electrostatic actuation of nanomechanical optical fibres with integrated electrodes

    OpenAIRE

    Podoliak, N.; Lian, Zhenggang; Segura, Martha; Loh, W H; Horak, P.

    2014-01-01

    We investigate theoretically and experimentally the possibility of electrostatic actuation of nanomechanical optical fibers with integrated electrodes. The fiber has two optically guiding cores suspended in air by thin flexible membranes. This fiber structure allows for control of the optical properties via nanometer-range mechanical core movements. The electrostatic actuation of the fiber is generated by electrically charged electrodes embedded in the fiber cladding. Fiber designs with one t...

  18. Benefits and Challenges of Over-Actuated Excitation Systems

    OpenAIRE

    Norman Fitz-Coy; Vivek Nagabhushan; Michael T. Hale

    2010-01-01

    This paper provides a comprehensive discussion on the benefits and technical challenges of controlling over-determined and over-actuated excitation systems ranging from 1-DOF to 6-DOF. The primary challenges of over-actuated systems result from the physical constraints imposed when the number of exciters exceeds the number of mechanical degree-of-freedom. This issue is less critical for electro-dynamic exciters which tend to be more compliant than servo-hydraulic exciters. To facilitate the t...

  19. Leaf spring, and electromagnetic actuator provided with a leaf spring

    OpenAIRE

    Berkhoff, Arthur Perry; Lemmen, Remco Louis Christiaan

    2002-01-01

    The invention relates to a leaf spring for an electromagnetic actuator and to such an electromagnetic actuator. The leaf spring is formed as a whole from a disc of plate-shaped, resilient material. The leaf spring comprises a central fastening part, an outer fastening part extending therearound and at least two leaf spring arms extending between the central and outer fastening part. Viewed from the central fastening part, the leaf spring arms (23) have a first zone (24) originating from the c...

  20. Pentanol as Co-Surfactant in Polypyrrole Actuators

    DEFF Research Database (Denmark)

    Bay, Lasse; West, Keld; Skaarup, Steen

    2002-01-01

    Conductin polymers have been investigated for the use as active component in polymer actuators. Addition of I-pentanol as co-surfactant to the polymerisation solution is shown to increase the reversible linear strain that can be achieved with polypyrrole films doped with dodecyl benzene sulfonate...... the addition of pentanol. The use of pentanol as co-surfactant during polymerisation will, therefore, be beneficial for the use of PPy-DBS as active component material in polymer actuators....

  1. PRINCIPLE OF POST-PRODUCTION DESIGN OF HYDRAULIC ACTUATORS

    OpenAIRE

    A. V. Puzanov

    2015-01-01

    In work the problem of design-technology preparation of production of hydraulic actuators is staticized. The structure and business processes of design and production are analysed. Methods and means of reorganization of project works for the purpose of cutting-down of time of preparation of production are offered. The directions of reorganization of process of design are formulated. The principle of carrying out procedures of design-technology preparation of production of hydraulic actuators ...

  2. Contributions to Design of Actuators functioning with Nitinol Active Springs

    Directory of Open Access Journals (Sweden)

    Daniel Amariei

    2015-07-01

    Full Text Available The paper presents the research results achieved in order to perform a comparison regarding the influence of natural and forced cooling process applied to the Nitinol active springs inside a linear motion actuator. SMAs offer attractive potentials such as reversible strains of several percent, generation of high recovery stresses and high power / weight ratios. The actuator behavior was simulated first with SolidWorks and experimentally tested for results validation.

  3. Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

    OpenAIRE

    Tim Giffney; Mengying Xie; Aaron Yong; Andrew Wong; Philippe Mousset; Andrew McDaid; Kean Aw

    2016-01-01

    The excellent compliance and large range of motion of soft actuators controlled by fluid pressure has lead to strong interest in applying devices of this type for biomimetic and human-robot interaction applications. However, in contrast to soft actuators fabricated from stretchable silicone materials, conventional technologies for position sensing are typically rigid or bulky and are not ideal for integration into soft robotic devices. Therefore, in order to facilitate the use of soft pneumat...

  4. High-frequency jet nozzle actuators for noise reduction

    Science.gov (United States)

    Davis, Christopher L.; Calkins, Frederick T.; Butler, George W.

    2003-08-01

    Rules governing airport noise levels are becoming more restrictive and will soon affect the operation of commercial air traffic. Sound produced by jet engine exhaust, particularly during takeoff, is a major contributor to the community noise problem. The noise spectrum is broadband in character and is produced by turbulent mixing of primary, secondary, and ambient streams of the jet engine exhaust. As a potential approach to controlling the noise levels, piezoelectric bimorph actuators have been tailored to enhance the mixing of a single jet with its quiescent environment. The actuators are located at the edge of the nozzle and protrude into the exhaust stream. Several actuator configurations were considered to target two excitation frequencies, 250 Hz and 900 Hz, closely coupled to the naturally unstable frequencies of the mixing process. The piezoelectric actuators were constructed of 10 mil thick d31 poled wafer PZT-5A material bonded to either 10 or 20 mil thick spring steel substrates. Linear analytical beam models and NASTRAN finite element models were used to predict and assess the dynamic performance of the actuators. Experimental mechanical and electrical performance measurements were used to validate the models. A 3 inch diameter nozzle was fitted with actuators and tested in the Boeing Quiet Air Facility with the jet velocity varied from 50 to 1000 ft/s. Performance was evaluated using near-field and far-field acoustic data, flow visualization, and actuator health data. The overall sound pressure level produced from the 3 inch diameter jet illustrates the effect of both static and active actuators.

  5. Experimental Investigation of “Why an AC Dielectric Barrier Discharge Plasma Actuator is Preferred to DC Corona Wind Actuator in Boundary Layer Flow Control?”

    Directory of Open Access Journals (Sweden)

    Gholam reza Tathiri

    2014-01-01

    Full Text Available In this paper, characteristics of the flow induced in the boundary layer by an AC-Dielectric Barrier Discharge (DBD plasma actuator are compared against those of a DC-corona wind actuator. This is achieved by visualization of the induced flow using smoke injection and measuring the horizontal induced velocity. Our measurements show that the maximum induced velocity of an AC-DBD actuator is about one order of magnitude larger than that of a DC-corona actuator. For an AC-DBD actuator, the induced velocity is maximized on the plate surface while for a DC-corona actuator the induced velocity peaks at about 20mm above the surface. Using flow visualization, we demonstrate that the induced velocity of an AC-DBD actuator is parallel to the surface, while the induced velocity of a DC-corona actuator has components perpendicular to surface.

  6. Investigations on Actuator Dynamics through Theoretical and Finite Element Approach

    Directory of Open Access Journals (Sweden)

    Somashekhar S. Hiremath

    2010-01-01

    Full Text Available This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interaction (FSI is established between the piston and the fluid cavities at the piston end. The fluid cavities were modeled with special purpose hydrostatic fluid elements while the piston is modeled with brick elements. The finite element method is used to simulate the variation of cavity pressure, cavity volume, mass flow rate, and the actuator velocity. The finite element analysis is extended to study the system's linearized response to harmonic excitation using direct solution steady-state dynamics. It was observed from the analysis that the natural frequency of the actuator depends upon the position of the piston in the cylinder. This is a close match with theoretical and simulation results. The effect of bulk modulus is also presented in the paper.

  7. Fluidic actuators for active flow control on airframe

    Science.gov (United States)

    Schueller, M.; Weigel, P.; Lipowski, M.; Meyer, M.; Schlösser, P.; Bauer, M.

    2016-04-01

    One objective of the European Projects AFLoNext and Clean Sky 2 is to apply Active Flow Control (AFC) on the airframe in critical aerodynamic areas such as the engine/wing junction or the outer wing region for being able to locally improve the aerodynamics in certain flight conditions. At the engine/wing junction, AFC is applied to alleviate or even eliminate flow separation at low speeds and high angle of attacks likely to be associated with the integration of underwing- mounted Ultra High Bypass Ratio (UHBR) engines and the necessary slat-cut-outs. At the outer wing region, AFC can be used to allow more aggressive future wing designs with improved performance. A relevant part of the work on AFC concepts for airframe application is the development of suitable actuators. Fluidic Actuated Flow Control (FAFC) has been introduced as a Flow Control Technology that influences the boundary layer by actively blowing air through slots or holes out of the aircraft skin. FAFC actuators can be classified by their Net Mass Flux and accordingly divided into ZNMF (Zero Net Mass Flux) and NZNMF (Non Zero Net-Mass-Flux) actuators. In the frame of both projects, both types of the FAFC actuator concepts are addressed. In this paper, the objectives of AFC on the airframe is presented and the actuators that are used within the project are discussed.

  8. Development of an Actuator for Flow Control Utilizing Detonation

    Science.gov (United States)

    Lonneman, Patrick J.; Cutler, Andrew D.

    2004-01-01

    Active flow control devices including mass injection systems and zero-net-mass flux actuators (synthetic jets) have been employed to delay flow separation. These devices are capable of interacting with low-speed, subsonic flows, but situations exist where a stronger crossflow interaction is needed. Small actuators that utilize detonation of premixed fuel and oxidizer should be capable of producing supersonic exit jet velocities. An actuator producing exit velocities of this magnitude should provide a more significant interaction with transonic and supersonic crossflows. This concept would be applicable to airfoils on high-speed aircraft as well as inlet and diffuser flow control. The present work consists of the development of a detonation actuator capable of producing a detonation in a single shot (one cycle). Multiple actuator configurations, initial fill pressures, oxidizers, equivalence ratios, ignition energies, and the addition of a turbulence generating device were considered experimentally and computationally. It was found that increased initial fill pressures and the addition of a turbulence generator aided in the detonation process. The actuators successfully produced Chapman-Jouguet detonations and wave speeds on the order of 3000 m/s.

  9. Climbing robot actuated by meso-hydraulic artificial muscles

    Science.gov (United States)

    Bryant, Matthew; Fitzgerald, Jason; Miller, Samuel; Saltzman, Jonah; Kim, Sangkyu; Lin, Yong; Garcia, Ephrahim

    2014-03-01

    This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

  10. MOSFET Switching Circuit Protects Shape Memory Alloy Actuators

    Science.gov (United States)

    Gummin, Mark A.

    2011-01-01

    A small-footprint, full surface-mount-component printed circuit board employs MOSFET (metal-oxide-semiconductor field-effect transistor) power switches to switch high currents from any input power supply from 3 to 30 V. High-force shape memory alloy (SMA) actuators generally require high current (up to 9 A at 28 V) to actuate. SMA wires (the driving element of the actuators) can be quickly overheated if power is not removed at the end of stroke, which can damage the wires. The new analog driver prevents overheating of the SMA wires in an actuator by momentarily removing power when the end limit switch is closed, thereby allowing complex control schemes to be adopted without concern for overheating. Either an integral pushbutton or microprocessor-controlled gate or control line inputs switch current to the actuator until the end switch line goes from logic high to logic low state. Power is then momentarily removed (switched off by the MOSFET). The analog driver is suited to use with nearly any SMA actuator.

  11. Soft mobile robots driven by foldable dielectric elastomer actuators

    Science.gov (United States)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong

    2016-08-01

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  12. Bionic robot arm with compliant actuators

    Science.gov (United States)

    Moehl, Bernhard

    2000-10-01

    Traditional robotics uses non-compliant materials for all components involved in the production of movement. Elasticity is avoided as far as possible, because it leads to hazardous oscillations and makes control of precise movements very difficult. Due to this deliberate stiffness, robots are typically heavy and clumsy structures in comparison to their living counterparts (i.e. man and animals). Yet, moving systems in nature cope not only with the difficulties introduced by compliant materials, they also take advantage of the elasticity in muscles and tendons to produce smooth and even rapid movements. It is understood, that elasticity in a multi-jointed moving system requires sophisticated control mechanisms- as provided by a nervous system or a suitably programmed computer. In this contribution I shall describe a two-jointed robot with purpose-built elasticity in its actuators. This is accomplished by spiral springs places in series with a conventional electric motor and a tendon to the arm. It is shown that, with sufficiently soft elasticity, oscillations can be avoided by active oscillation damping. (Such active oscillation damping presumably also governs movement control in man and animals.) Furthermore, once the major problem has been overcome, elasticity is found to offer a wide spectrum of valuable advantages, as far as the most serious problems in traditional robotics are concerned. They are summarized by terms such as less dangerous, position tolerant, lightweight construction, controlled forces, and ballistic movements. These will be explained in detail and presented for discussion.

  13. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

    Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

  14. Adaptive Liquid Lens Actuated by Droplet Movement

    Directory of Open Access Journals (Sweden)

    Chao Liu

    2014-08-01

    Full Text Available In this paper we report an adaptive liquid lens actuated by droplet movement. Four rectangular PMMA (Polymethyl Methacrylate substrates are stacked to form the device structure. Two ITO (Indium Tin Oxide sheets stick on the bottom substrate. One PMMA sheet with a light hole is inserted in the middle of the device. A conductive droplet is placed on the substrate and touches the PMMA sheet to form a small closed reservoir. The reservoir is filled with another immiscible non-conductive liquid. The non-conductive liquid can form a smooth concave interface with the light hole. When the device is applied with voltage, the droplet stretches towards the reservoir. The volume of the reservoir reduces, changing the curvature of the interface. The device can thus achieve the function of an adaptive lens. Our experiments show that the focal length can be varied from −10 to −159 mm as the applied voltage changes from 0 to 65 V. The response time of the liquid lens is ~75 ms. The proposed device has potential applications in many fields such as information displays, imaging systems, and laser scanning systems.

  15. Reliability Demonstration of Safety Actuating Mechanism

    Directory of Open Access Journals (Sweden)

    S.S. Panwar

    1999-10-01

    Full Text Available Development of high technology and high cost weapons system is a difficult task in view of. highreliability goals. It is further compounded in the case of single-shot airborne systems. Overall reliabilityof weapons system depends upon the reliability of systems and sub-systems used. Design of each systemand sub-system is fmalised after preliminary design review, critical design review, etc. and final reliabilityis demonstrated by subeing to functional tests.Warhead is the only sub-system responsible for inflicting damage to the target and all the otherembsystemsassist in delivering the warhead on or near the target. Safety actuating mechanism (SAM subsystemis a single-shot device which provides safety during handling, launch and flight of a missile and actuatesthe warhead, whenever desired on receipt of firing pulse from radio altitude switch. SAM being critical forsuccessful detonation of the warhead, it is desired that this unit should have very high reliability. SAMunits are subjected to reliability tests and a reliability factor of 0.84 at 90 per cent confidence level is achievedwhich further increases to 0.98 due to redundancy.

  16. A cyclically actuated electrolytic drug delivery device

    KAUST Repository

    Yi, Ying

    2015-01-01

    This work, focusing on an implantable drug delivery system, presents the first prototype electrolytic pump that combines a catalytic reformer and a cyclically actuated mode. These features improve the release performance and extend the lifetime of the device. Using our platinum (Pt)-coated carbon fiber mesh that acts as a catalytic reforming element, the cyclical mode is improved because the faster recombination rate allows for a shorter cycling time for drug delivery. Another feature of our device is that it uses a solid-drug-in-reservoir (SDR) approach, which allows small amounts of a solid drug to be dissolved in human fluid, forming a reproducible drug solution for long-term therapies. We have conducted proof-of-principle drug delivery studies using such an electrolytic pump and solvent blue 38 as the drug substitute. These tests demonstrate power-controlled and pulsatile release profiles of the chemical substance, as well as the feasibility of this device. A drug delivery rate of 11.44 ± 0.56 μg min-1 was achieved by using an input power of 4 mW for multiple pulses, which indicates the stability of our system. © The Royal Society of Chemistry 2015.

  17. Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training

    NARCIS (Netherlands)

    Veneman, J.F.; Ekkelenkamp, R.; Kruidhof, R.; Helm, van der F.C.T.; Kooij, van der H.

    2005-01-01

    Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque sou

  18. Experimental parametric study of a biomimetic fish robot actuated by piezoelectric actuators

    Science.gov (United States)

    Wiguna, T.; Park, Hoon C.; Heo, S.; Goo, Nam S.

    2007-04-01

    This paper presents an experiment and parametric study of a biomimetic fish robot actuated by the Lightweight Piezocomposite Actuator (LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF (Body and Caudal Fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, stiffness, area, and aspect ratio. It is found that a high aspect ratio caudal fin contributes to high swimming speed. The robotic fish propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 cm/s and 2.519 cm/s, respectively, for a 300 V p-p input voltage excited at 0.9 Hz. Thrust performance of the biomimetic fish robot is examined by calculating Strouhal number, Froude number, Reynolds number, and power consumption.

  19. Free-form Light Actuators — Fabrication and Control of Actuation in Microscopic Scale

    Science.gov (United States)

    Zeng, Hao; Wasylczyk, Piotr; Parmeggiani, Camilla; Martella, Daniele; Wiersma, Diederik Sybolt

    2016-01-01

    Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers' attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge. In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others. PMID:27285398

  20. Free-form Light Actuators - Fabrication and Control of Actuation in Microscopic Scale.

    Science.gov (United States)

    Zeng, Hao; Wasylczyk, Piotr; Parmeggiani, Camilla; Martella, Daniele; Wiersma, Diederik Sybolt

    2016-01-01

    Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers' attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge. In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others. PMID:27285398

  1. Thrust Analysis of a Fish Robot Actuated by Piezoceramic Composite Actuators

    Institute of Scientific and Technical Information of China (English)

    Quang Sang Nguyen; Hoon Cheol Park; Doyoung Byun

    2011-01-01

    In this work, a three-dimensional (3D) Computational Fluid Dynamics (CFD) model was built to simulate the tail fin motion of a fish robot actuated by a piezoceramic composite actuator, and to determine the maximum thrust tail-beat frequency. A simulation of the tail fin at a tail-beat frequency was performed to confirm measured thrust data from a previous study. The computed and measured thrusts were in good agreement. A series of thrust simulations were conducted for various tail-beat frequencies to confirm the maximum thrust frequency that was obtained from thrust measurements in the previous study. The largest thrust was calculated at a tail-beat frequency of 3.7 Hz and vortices around the tail were fully separated. The calculated maximum thrust tail-beat frequency was in good agreement with the measured frequency. Flow characteristics during tail fin motion were examined to explain why the largest thrust occurred at this particular tail-beat frequency.

  2. Fast bender actuators for fish-like aquatic robots

    Science.gov (United States)

    McGovern, S. T.; Spinks, G. M.; Xi, B.; Alici, G.; Truong, V.; Wallace, G. G.

    2008-03-01

    Small, highly-mobile "swimming" robots are desired for underwater monitoring operations, including pollution detection, video mapping and other tasks. Actuator materials of all types are of interest for any application where space is limited. This constraint certainly applies to the small-scale swimming robot, where multiple small actuators are needed for forward/backward propulsion, steering and diving/surfacing. A number of previous studies have demonstrated propulsion of floating objects using IPMC type polymer actuators [1-3] or piezoceramic actuators [4, 5]. Here, we show how propulsion is also possible using a multi-layer polypyrrole bimorph actuator. The actuator is based on our previously published work showing very fast resonance actuation in polypyrrole bending-type actuators [6]. The bending actuator is a tri-layer structure, in which the gold-PVDF (porous poly(vinylidene fluoride) membrane) substrate was coated on both sides with polypyrrole layers to form an electrochemical cell. Polypyrrole films on gold coated PVDF were grown galvanostatically at a current density of 0.10 mA/cm2 for 12 hours from propylene carbonate (PC) solution containing 0.1 M Li+TFSI-, 0.1 M pyrrole and 1% (w/w) water. The polypyrrole deposited PVDF was thoroughly rinsed with acetone and stored in 0.1 M Li+TFSI- / PC solution. The edges of the bulk film were trimmed off and the bending actuators were prepared as rectangular strips typically 2mm wide and 25 mm long. These actuators gave fast operation in air (to 90 Hz), and were utilised as active flexural joints on the tail fin of a fishshaped floating "boat". The actuators were attached to a simple truncated shaped fin and the deflection angle was analysed in both air and liquid for excitation with +/- 1V square wave at a range of frequencies. The mechanical resonance of the fin was seen to be 4.5 Hz in air and 0.45 Hz in PC, which gave deflection angles of approximately 60° and 55° respectively. The boat contained a battery

  3. Investigation of Equivalent Unsprung Mass and Nonlinear Features of Electromagnetic Actuated Active Suspension

    Directory of Open Access Journals (Sweden)

    Jun Yin

    2015-01-01

    Full Text Available Electromagnetic actuated active suspension benefits active control and energy harvesting from vibration at the same time. However, the rotary type electromagnetic actuated active suspension introduces a significant extra mass on the unsprung mass due to the inertia of the rotating components of the actuator. The magnitude of the introduced unsprung mass is studied based on a gearbox type actuator and a ball screw type actuator. The geometry of the suspension and the actuator also influence the equivalent unsprung mass significantly. The suspension performance simulation or control logic derived should take this equivalent unsprung mass into account. Besides, an extra force should be compensated due to the nonlinear features of the suspension structure and it is studied. The active force of the actuator should compensate this extra force. The discovery of this paper provides a fundamental for evaluating the rotary type electromagnetic actuated active suspension performance and control strategy derived as well as controlling the electromagnetic actuated active suspension more precisely.

  4. Bio-inspired aquatic robotics by untethered piezohydroelastic actuation.

    Science.gov (United States)

    Cen, L; Erturk, A

    2013-03-01

    This paper investigates fish-like aquatic robotics using flexible bimorphs made of macro-fiber composite (MFC) piezoelectric laminates for carangiform locomotion. In addition to noiseless and efficient actuation over a range of frequencies, geometric scalability, and simple design, bimorph propulsors made of MFCs offer a balance between the actuation force and velocity response for performance enhancement in bio-inspired swimming. The experimental component of the presented work focuses on the characterization of an elastically constrained MFC bimorph propulsor for thrust generation in quiescent water as well as the development of a robotic fish prototype combining a microcontroller and a printed-circuit-board amplifier to generate high actuation voltage for untethered locomotion. From the theoretical standpoint, a distributed-parameter electroelastic model including the hydrodynamic effects and actuator dynamics is coupled with the elongated-body theory for predicting the mean thrust in quiescent water. In-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated-body theory to predict the thrust output. The measured mean thrust levels in quiescent water (on the order of ∼10 mN) compare favorably with thrust levels of biological fish. An untethered robotic fish prototype that employs a single bimorph fin (caudal fin) for straight swimming and turning motions is developed and tested in free locomotion. A swimming speed of 0.3 body-length/second (7.5 cm s⁻¹ swimming speed for 24.3 cm body length) is achieved at 5 Hz for a non-optimized main body-propulsor bimorph combination under a moderate actuation voltage level. PMID:23348365

  5. Ionic and viscoelastic mechanisms of a bucky-gel actuator

    Science.gov (United States)

    Kruusamäe, Karl; Sugino, Takushi; Asaka, Kinji

    2015-07-01

    Ionic electromechanically active polymers (IEAPs) are considered attractive candidates for soft, miniature, and lightweight actuators. The bucky-gel actuator is a carbonaceous subtype of IEAP that due to its structure (i.e. two highly porous electrodes sandwiching a thin ion-permeable electrolyte layer) and composition (i.e. being composed of soft porous polymer, carbon nanotubes, and ionic liquid) is very similar to an electric double-layer capacitor. In response to the voltage applied between the electrodes of a bucky-gel actuator, the laminar structure bends. The time domain behavior exhibits, however, a phenomenon called the back-relaxation, i.e., after some time the direction of bending is reversed even though voltage remains constant. In spite of the working mechanism of IEAP actuators being generally attributed to the transport of ions within the soft multilayer system, the specific details remain unclear. A so-called two-carrier model proposes that the bending and subsequent back-relaxation are caused by the relocation of two ionic species having different mobilities as they enter and exit the electrode layers. By adopting the two-carrier model for bucky-gel actuators, we see very good agreement between the mathematical representation and the experimental data of the electromechanical behavior. Furthermore, since the bucky-gel actuator is viscoelastic, we propose to use the time domain response of a blocking force as the key parameter related to the inner ionic mechanism. We also introduce a method to estimate the viscoelastic creep compliance function from the time domain responses for curvature and blocking force. This analysis includes four types of bucky-gel actuators of varying composition and structure.

  6. The viscoelastic effect in bending bucky-gel actuators

    Science.gov (United States)

    Kruusamäe, Karl; Mukai, Ken; Sugino, Takushi; Asaka, Kinji

    2014-03-01

    Electromechanically active polymers (EAP) are considered a good actuator candidate for a variety of reasons, e.g. they are soft, easy to miniaturize and operate without audible noise. The main structural component in EAPs is, as the name states, a type of deformable polymer. As polymers are known to exhibit a distinct mechanical response, the nature of polymer materials should never be neglected when characterizing and modeling the performance of EAP actuators. Bucky-gel actuators are a subtype of EAPs where ion-containing polymer membrane acts as an electronically insulating separator between two electrodes of carbon nanotubes and ionic liquid. In many occasions, the electrodes also contain polymer for the purpose of binding it together. Therefore, mechanically speaking, bucky-gel actuators are composite structures with layers of different mechanical nature. The viscoelastic response and the shape change property are perhaps the most characteristic effects in polymers. These effects are known to have high dependence on factors such as the type of polymer, the concentration of additives and the structural ratio of different layers. At the same time, most reports about optimization of EAP actuators describe the alteration of electromechanical performance dependent on the same factors. In this paper, the performance of bucky-gel actuators is measured as a function between the output force and bending deflection. It is observed that effective stiffness of these actuators depends on the input voltage. This finding is also supported by dynamic mechanical analysis which demonstrates that the viscoelastic response of bucky-gel laminate depends on both frequency and temperature. Moreover, the dynamic mechanical analysis reveals that in the range of standard operation temperatures, tested samples were in their glass transition region, which made it possible to alter their shape by using mechanical fixing. The mechanical fixity above 90% was obtained when high

  7. A linear peristaltic MRF/foam actuator

    Science.gov (United States)

    Larsen, J. J.; Jenkins, C. H.; Korde, U. A.

    2007-04-01

    , peristaltic pumps in industry are common for a variety of material handling applications, particularly involving the movement of sterile fluids (for example, blood). The peristaltic pump is usually circular in configuration, relying on external rollers to move fluid within a tube. Some linear configuration pumps have been proposed and developed, however they are complicated than their circular counterparts. In the remaining part of the present work, we discuss the development of a linear peristaltic actuator based upon the deformation of MRF/foam. The actuator consists of an open-cell polymer foam substrate infused with MRF. To one side of the foam substrate resides a translating magnet, such that a magnetic field can be propagated down its length. The linear peristaltic action is generated as the transversely propagating field shapes the MRF/foam substrate in a corresponding way. Experimental results are discussed, an outline of on-going theoretical modeling is presented, and conclusions are provided.

  8. Hydrogel Actuation by Electric Field Driven Effects

    Science.gov (United States)

    Morales, Daniel Humphrey

    Hydrogels are networks of crosslinked, hydrophilic polymers capable of absorbing and releasing large amounts of water while maintaining their structural integrity. Polyelectrolyte hydrogels are a subset of hydrogels that contain ionizable moieties, which render the network sensitive to the pH and the ionic strength of the media and provide mobile counterions, which impart conductivity. These networks are part of a class of "smart" material systems that can sense and adjust their shape in response to the external environment. Hence, the ability to program and modulate hydrogel shape change has great potential for novel biomaterial and soft robotics applications. We utilized electric field driven effects to manipulate the interaction of ions within polyelectrolyte hydrogels in order to induce controlled deformation and patterning. Additionally, electric fields can be used to promote the interactions of separate gel networks, as modular components, and particle assemblies within gel networks to develop new types of soft composite systems. First, we present and analyze a walking gel actuator comprised of cationic and anionic gel legs attached by electric field-promoted polyion complexation. We characterize the electro-osmotic response of the hydrogels as a function of charge density and external salt concentration. The gel walkers achieve unidirectional motion on flat elastomer substrates and exemplify a simple way to move and manipulate soft matter devices in aqueous solutions. An 'ionoprinting' technique is presented with the capability to topographically structure and actuate hydrated gels in two and three dimensions by locally patterning ions induced by electric fields. The bound charges change the local mechanical properties of the gel to induce relief patterns and evoke localized stress, causing rapid folding in air. The ionically patterned hydrogels exhibit programmable temporal and spatial shape transitions which can be tuned by the duration and/or strength of

  9. Piezoelectric peristaltic micropump with a single actuator

    Science.gov (United States)

    Pečar, Borut; Križaj, Dejan; Vrtačnik, Danilo; Resnik, Drago; Dolžan, Tine; Možek, Matej

    2014-10-01

    A high performance piezoelectric PDMS peristaltic micropump with a single actuator is presented that enables driving with less expensive and simpler single-phase controllers while maintaining all the superior properties of conventional peristaltic micropumps, such as robustness, simplicity and purity due to the absence of valves. A simple structural design is based on a centrally placed inlet port which leads directly into the center of the pumping chamber. During excitation the loosely attached glass membrane and elastomer (PDMS) deform in a controlled manner, which enables compression and expansion of the central inlet port and the outlet fluidic channel with a phase lag that is typical for operation of peristaltic pumps. For proper micropump operation, the volume of the circular pumping chamber area should be much larger than the volume around the secondary deformation extremum that appears in the area of the outlet fluidic channel. To experimentally validate the principle of operation and evaluate the repeatability of the fabrication process, four monoactuator peristaltic (MAP) micropump prototypes were fabricated and characterized. Fabricated prototypes featured high water / air flowrate performance (up to 0.24 ml min-1/up to 0.84 ml min-1), back-pressure performance (up to 360 mbar/up to 80 mbar) and suction pressure performance (down to -165 mbar/down to -140 mbar). Furthermore, bubble tolerance and self-priming capability have been proved, together with valve regime of operation that enables sealing of the fluidic path when appropriate dc voltage is applied.

  10. Experimental Investigation of “Why an AC Dielectric Barrier Discharge Plasma Actuator is Preferred to DC Corona Wind Actuator in Boundary Layer Flow Control?”

    OpenAIRE

    Gholam reza Tathiri; Esmaeil Esmaeilzadeh; seyyed mahdi mirsajedi; hossein mahdavy moghaddam

    2014-01-01

    In this paper, characteristics of the flow induced in the boundary layer by an AC-Dielectric Barrier Discharge (DBD) plasma actuator are compared against those of a DC-corona wind actuator. This is achieved by visualization of the induced flow using smoke injection and measuring the horizontal induced velocity. Our measurements show that the maximum induced velocity of an AC-DBD actuator is about one order of magnitude larger than that of a DC-corona actuator. For an AC-DBD actuator, the indu...

  11. Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies.

    Science.gov (United States)

    Veale, Allan Joshua; Xie, Shane Quan

    2016-04-01

    Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. However, current orthosis actuation systems use components designed for industrial applications, not specifically for interacting with humans. This can limit orthoses' capabilities and, if their users' needs are not adequately considered, contribute to their abandonment. Here, a user centered review is presented on: requirements for orthosis actuators; the electric, hydraulic, and pneumatic actuators currently used in orthoses and their advantages and limitations; the potential of new actuator technologies, including smart materials, to actuate orthoses; and the future of orthosis actuator research. PMID:26923385

  12. Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source

    Directory of Open Access Journals (Sweden)

    Senzaki Shinji

    2016-01-01

    Full Text Available A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the proposed analytical model can predict the behaviour of the tested actuator.

  13. Vibration control for precision manufacturing using piezoelectric actuators

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, D.R.; Hinnerichs, T.D.; Redmond, J.M.

    1995-12-31

    Piezoelectric actuators provide high frequency, force, and stiffness capabilities along with reasonable Stroke limits, all of which can be used to increase performance levels in precision manufacturing systems. This paper describes two examples of embedding piezoelectric actuators in structural components for vibration control. One example involves suppressing the self excited chatter phenomenon in the metal cutting process of a milling machine and the other involves damping vibrations induced by rigid body stepping of a photolithography platen. Finite element modeling and analyses are essential for locating and sizing the actuators and permit further simulation studies of the response of the dynamic system. Experimental results are given for embedding piezoelectric actuators in a cantilevered bar configuration, which was used as a surrogate machine tool structure. These results are incorporated into a previously developed milling process simulation and the effect of the control on the cutting process stability diagram is quantified. Experimental results are also given for embedding three piezoelectric actuators in a surrogate photolithography platen to suppress vibrations. These results demonstrate the potential benefit that can be realized by applying advances from the field of adaptive structures to problems in precision manufacturing.

  14. Actuation development and evaluation for INSTAR: inertially stabilized rifle

    Science.gov (United States)

    Brei, Diann E.; Vendlinski, James; Frecker, Mary I.; Bharti, Smita

    2003-08-01

    In the use of piezoelectric actuators, it is a clear choice to use stack (or d33 mode) architectures when very high force is required or benders (or d31 mode) architectures when very high displacements are needed. However, the choice isn't as clear for applications that need simultaneously a moderate force and displacement. This paper presents one such application, INSTAR that is posed with this dilemma. INSTAR is a novel rifle system that has an inertially stabilized barrel via an active suspension based on piezoelectric actuation. While the frequency required for this application was low (~10Hz), the displacement (+/- 200 to 400 microns) and the force (22-45 N) are moderate. Two very different actuation approaches were developed, modeled, fabricated and experimentally validated within the INSTAR demonstration platform: 1) a d31 approach based on the Recurve architecture with focus on generating higher forces than is common for d31 actuators and 2) a d33 approach based upon a compliant mechanism designed using topology optimization with focus on providing more amplified strain than is common for d33 actuators. Both approaches were successful in meeting the INSTAR requirements, but each had its on advantages and disadvantages.

  15. Dynamic modeling of brushless dc motors for aerospace actuation

    Science.gov (United States)

    Demerdash, N. A.; Nehl, T. W.

    1980-11-01

    A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.

  16. Bumpless switching control for switched systems with partial actuator failures

    Science.gov (United States)

    Qi, Yiwen; Bao, Wen; Zhang, Qingxin; Chang, Juntao

    2016-11-01

    This study is concerned with the bumpless transfer problem for switched systems with partial actuator failures, in order to obtain smooth system performance output transition. Taking into account that the system requires a controller switching from current sub-controller to a fault-tolerant sub-controller after actuator fault. And bumpless transfer for control input cannot be traditionally designed when the actuator fault occurs, while performance smoothing can be considered and it is actually the ultimate goal of bumpless transfer. Specifically, the actuator fault model is firstly established and partial actuator fault is considered. Then, the system performance output signal is deemed as the main design variable of bumpless transfer, and closed-loop control systems both previous and after controller switching are constructed. Moreover, by using model matching thought and the adaptive sliding mode control technique, a bumpless transfer compensator design strategy is given to drive the performance output variable (after controller switching) to track the one of reference model. At last, simulation results of numeric and application examples demonstrate the effectiveness of the proposed bumpless transfer strategy.

  17. Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

    Science.gov (United States)

    Zhou, Zhiqiang

    2012-01-01

    A paper describes attitude-control algorithms using the combination of magnetic actuators with reaction wheel assemblies (RWAs) or other types of actuators such as thrusters. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for nadir-pointing, pitch, and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude- control accuracy is comparable with RWA-based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude-control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode, and the control accuracy can be maintained. The attitude-control algorithms of the combined actuators are derived, which can guarantee the spacecraft attitude and rates to track the commanded values precisely. Results show that precise attitude tracking can be reached, and the attitude-control accuracy is comparable with 3-axis wheel control.

  18. Analysis of Innovative Design of Energy Efficient Hydraulic Actuators

    Directory of Open Access Journals (Sweden)

    M Osman Abdalla

    2013-01-01

    Full Text Available Hydraulic cylinder actuators are used extensively in industrial, construction and agricultural works. The small sized outlet ports of the cylinders resist the flow of discharged oil; and as a result the piston motion is slowed down. This causes a lot of heat generation and energy loss within the actuators. The study investigates and analyzes the possibilities of reducing the hydraulic resistance and increasing efficiency of the hydraulic actuator. Conventional hydraulic cylinders are simulated in FLUENT. Results show that the small outlet ports are the sources of energy loss in hydraulic cylinders. A new hydraulic system was proposed as a solution to relieve the hydraulic resistance in the actuators. The proposed system is a four ports hydraulic cylinder fitted with a novel flow control valve. The proposed four ports cylinder was simulated and parameters such as ports sizes, loads and pressures are varied during the simulation. The hydraulic resisting forces, piston speed and mass flow rates are computed. Results show that the hydraulic resistance is significantly reduced in the proposed four ports actuators; and the proposed cylinders run faster than the conventional cylinders and a considerable amount of energyis saved as well.

  19. A practical multilayered conducting polymer actuator with scalable work output

    International Nuclear Information System (INIS)

    Household assistance robots are expected to become more prominent in the future and will require inherently safe design. Conducting polymer-based artificial muscle actuators are one potential option for achieving this safety, as they are flexible, lightweight and can be driven using low input voltages, unlike electromagnetic motors; however, practical implementation also requires a scalable structure and stability in air. In this paper we propose and practically implement a multilayer conducting polymer actuator which could achieve these targets using polypyrrole film and ionic liquid-soaked separators. The practical work density of a nine-layer multilayer actuator was 1.4 kJ m−3 at 0.5 Hz, when the volumes of the electrolyte and counter electrodes were included, which approaches the performance of mammalian muscle. To achieve air stability, we analyzed the effect of air-stable ionic liquid gels on actuator displacement using finite element simulation and it was found that the majority of strain could be retained when the elastic modulus of the gel was kept below 3 kPa. As a result of this work, we have shown that multilayered conducting polymer actuators are a feasible idea for household robotics, as they provide a substantial practical work density in a compact structure and can be easily scaled as required

  20. The Linear and Nonlinear Electro-MechanicalFin Actuator

    Directory of Open Access Journals (Sweden)

    Zeina A. Abdul Redha

    2011-01-01

    Full Text Available Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spy-fly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (-3000 to 3000 and the damping ratio is varied from (0.4 to 0.8. The comparison between linear and nonlinear fin actuator response results shows that for linear model, the maximum overshoot is about 10%, rising time is 0.23 sec. and steady state occur at 0.51 sec., while For nonlinear model the maximum overshoot is about 5%, rising time is 0.26 sec. and steady state occurs at 2 sec.; i.e., the nonlinear fin actuator system gives faster and more accurate response than does the linear fin actuator system.

  1. Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

    Directory of Open Access Journals (Sweden)

    Tim Giffney

    2016-02-01

    Full Text Available The excellent compliance and large range of motion of soft actuators controlled by fluid pressure has lead to strong interest in applying devices of this type for biomimetic and human-robot interaction applications. However, in contrast to soft actuators fabricated from stretchable silicone materials, conventional technologies for position sensing are typically rigid or bulky and are not ideal for integration into soft robotic devices. Therefore, in order to facilitate the use of soft pneumatic actuators in applications where position sensing or closed loop control is required, a soft pneumatic bending actuator with an integrated carbon nanotube position sensor has been developed. The integrated carbon nanotube position sensor presented in this work is flexible and well suited to measuring the large displacements frequently encountered in soft robotics. The sensor is produced by a simple soft lithography process during the fabrication of the soft pneumatic actuator, with a greater than 30% resistance change between the relaxed state and the maximum displacement position. It is anticipated that integrated resistive position sensors using a similar design will be useful in a wide range of soft robotic systems.

  2. Stabilization of boundary layer streaks by plasma actuators

    International Nuclear Information System (INIS)

    A flow's transition from laminar to turbulent leads to increased levels of skin friction. In recent years, dielectric barrier discharge actuators have been shown to be able to delay the onset of turbulence in boundary layers. While the laminar to turbulent transition process can be initiated by several different instability mechanisms, so far, only stabilization of the Tollmien–Schlichting path to transition has received significant attention, leaving the stabilization of other transition paths using these actuators less explored. To fill that void, a bi-global stability analysis is used here to examine the stabilization of boundary layer streaks in a laminar boundary layer. These streaks, which are important to both transient and by-pass instability mechanisms, are damped by the addition of a flow-wise oriented plasma body force to the boundary layer. Depending on the magnitude of the plasma actuation, this damping can be up to 25% of the perturbation's kinetic energy. The damping mechanism appears to be due to highly localized effects in the immediate vicinity of the body force, and when examined using a linearized Reynolds-averaged Navier–Stokes energy balance, indicate negative production of the perturbation's kinetic energy. Parametric studies of the stabilization have also been performed, varying the magnitude of the plasma actuator's body force and the spanwise wavenumber of the actuation. Based on these parametric studies, the damping of the boundary layer streaks appears to be linear with respect to the total amount of body force applied to the flow. (paper)

  3. Biodegradable and edible gelatine actuators for use as artificial muscles

    Science.gov (United States)

    Chambers, L. D.; Winfield, J.; Ieropoulos, I.; Rossiter, J.

    2014-03-01

    The expense and use of non-recyclable materials often requires the retrieval and recovery of exploratory robots. Therefore, conventional materials such as plastics and metals in robotics can be limiting. For applications such as environmental monitoring, a fully biodegradable or edible robot may provide the optimum solution. Materials that provide power and actuation as well as biodegradability provide a compelling dimension to future robotic systems. To highlight the potential of novel biodegradable and edible materials as artificial muscles, the actuation of a biodegradable hydrogel was investigated. The fabricated gelatine based polymer gel was inexpensive, easy to handle, biodegradable and edible. The electro-mechanical performance was assessed using two contactless, parallel stainless steel electrodes immersed in 0.1M NaOH solution and fixed 40 mm apart with the strip actuator pinned directly between the electrodes. The actuation displacement in response to a bias voltage was measured over hydration/de-hydration cycles. Long term (11 days) and short term (1 hour) investigations demonstrated the bending behaviour of the swollen material in response to an electric field. Actuation voltage was low (robotics.

  4. Interaction of multiple actuators for synchronized switching damping control

    Science.gov (United States)

    Cazzulani, Gabriele; Braghin, Francesco; Mazzocchi, Fabrizio

    2016-04-01

    The semi-active Synchronized Switching Damping (SSD) family is based on a nonlinear shunting circuit applied to piezoelectric actuators, where the circuit characteristics are switched along the vibration cycles of the structure. SSD offers many advantages with respect to other vibration suppression techniques using piezoelectric actuators. Indeed, multiple modes can be suppressed with a relatively simple system and with very low power consumption. This allows the realization of self-powered control systems, without the need of wiring and external power supply. Moreover, the characteristics of this control strategy make it very robust to the variation of the dynamic characteristics of the structure, outperforming the classic passive linear shunts. Different SSD techniques have been developed, varying the circuit characteristics and the switching logic. Although this control family has been studied for many years, all the works are limited to the single actuator case, losing in generality with respect to many practical cases. For this reason, the aim of this work is to apply SSD control with multiple actuators and to study the interaction of the actuators and their shunting circuits in order to optimize the damping performance. The study will be performed numerically and then an experimental setup will be realized to test the proposed solutions.

  5. Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model

    Science.gov (United States)

    Melton, LaTunia Pack; Koklu, Mehti

    2016-01-01

    Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.

  6. Fabrication and reliable implementation of an ionic polymer-metal composite (IPMC) biaxial bending actuator

    Science.gov (United States)

    Lee, Gil-Yong; Choi, Jung-Oh; Kim, Myeungseon; Ahn, Sung-Hoon

    2011-10-01

    Ionic polymer-metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle.

  7. Optimization of Actuators in Smart Truss Based on Genetic Algorithms

    Directory of Open Access Journals (Sweden)

    Ruizhen Gao

    2012-11-01

    Full Text Available Actuators formed from piezoelectric ceramics were embedded in truss rods to make up active rods. The paper used mechanical knowledge, static stiffness method and the finite element method to analyze the active rod and the smart truss structure and then model them. In order to solve the difficult problem of number optimization, the paper put forward the actuator existence variable and optimized number and locations of actuators at the same time, made the structure have the best output effect, so it can reduce the displacement at the designated location of the truss structure and the structure vibration. It also can improve the truss structure accuracy. Then find the optimal solution by genetic algorithms(GA) and MATLAB programming. The results of the example show that the model this paper builds is correct and genetic algorithms are effective in solving the optimization question.  

  8. Robot Arm with Tendon Connector Plate and Linear Actuator

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Nguyen, Vienny (Inventor); Millerman, Alexander (Inventor)

    2014-01-01

    A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

  9. Low power linear actuator for direct drive electrohydraulic valves

    Institute of Scientific and Technical Information of China (English)

    Yong LI; Fan DING; Jian CUI; Qi-peng LI

    2008-01-01

    This paper presents a bi-directional permanent-magnet linear actuator for directly driving electrohydraulic valves with low power consumption. Its static and dynamic performances were analyzed using the 2D finite element method, taking into account the nonlinear characterization and the eddy current loss of the magnetic material. The experiment and simulation results agree well and show that the prototype actuator can produce a force of+100 N with the maximum power being 7 W and has linear characteristics with a positive magnetic stiffness within a stroke of±1 mm. Its non-linearity is less than 1.5% and the hysteresis less than 1.5%. The actuator's frequency response (-3 dB) of the displacement reaches about 15 Hz, and the most significant factor affecting the dynamic performance is identified as the eddy current loss of the magnetic material.

  10. Enhanced actuation in functionalized carbon nanotube–Nafion composites

    KAUST Repository

    Lian, Huiqin

    2011-08-01

    The fabrication and electromechanical performance of functionalized carbon nanotube (FCNT)-Nafion composite actuators were studied. The CNTs were modified successfully with polyethylene glycol (PEG), as verified by thermogravimetric analysis (TGA) and Fourier transform infrared (FT-IR) spectroscopy. Scanning electron microscopy (SEM) images show that the FCNTs are homogeneously dispersed in the Nafion matrix. The properties of FCNT-Nafion composites in terms of water uptake, ion exchange capacity, proton conductivity, dynamic mechanical properties, and actuation behavior were evaluated. The results show that the sample with 0.5 wt% FCNT exhibits the best overall behavior. Its storage modulus is 2.4 times higher than that of Nafion. In addition, the maximum generated strain and the blocking force for the same sample are 2 and 2.4 times higher compared to the neat Nafion actuator, respectively. © 2011 Elsevier B.V.

  11. Progress toward EAP actuators for biomimetic social robots

    Science.gov (United States)

    Hanson, D.

    2013-04-01

    Social robotics and artificial intelligence have progressed steadily in recent years, appearing in a variety of useful applications and products as well as breakthrough research. However, limitations in conventional motors continue to limit the possibilities of bio-inspired robotics. Such motors are needed for locomotion, grasping and manipulation, and social expressions and gestures. EAP actuators, being more like biological muscle in key regards, could revolutionize the hardware for such robots, if made robust, powerful, and manufacturable at reasonable prices. The author presents a survey of the progress and opportunities for EAP actuators in these fields, and discusses the latest work of his team in developing and manufacturing social robots that could benefit from EAP actuators.

  12. Design and control of hybrid actuation lower limb exoskeleton

    Directory of Open Access Journals (Sweden)

    Hipolito Aguilar-Sierra

    2015-06-01

    Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

  13. Optical Sensor/Actuator Locations for Active Structural Acoustic Control

    Science.gov (United States)

    Padula, Sharon L.; Palumbo, Daniel L.; Kincaid, Rex K.

    1998-01-01

    Researchers at NASA Langley Research Center have extensive experience using active structural acoustic control (ASAC) for aircraft interior noise reduction. One aspect of ASAC involves the selection of optimum locations for microphone sensors and force actuators. This paper explains the importance of sensor/actuator selection, reviews optimization techniques, and summarizes experimental and numerical results. Three combinatorial optimization problems are described. Two involve the determination of the number and position of piezoelectric actuators, and the other involves the determination of the number and location of the sensors. For each case, a solution method is suggested, and typical results are examined. The first case, a simplified problem with simulated data, is used to illustrate the method. The second and third cases are more representative of the potential of the method and use measured data. The three case studies and laboratory test results establish the usefulness of the numerical methods.

  14. Study on electrothermally actuated cantilever array for nanolithography

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Nanolithography is a patterning technique for the fabrication of nano-scale structures.A promising method of nanolithography known as scanning probe lithography has particularly extensive applications for its high resolution,high reliability,and simple operation.In this paper,a novel electrothermally actuated cantilever with integrated heater,thermal conductor and actuator for scanning probe lithography is proposed.Cantilevers are designed in an 8×4 array.Analytical models are presented to simulate the temperature distribution,deflection and thermal crosstalk of the cantilever array.This structure is successfully fabricated.It is demonstrated that this structure can produce a tip deflection of 16.9 μm at an actuation current of 5.5 mA and the thermal crosstalk between the cantilevers is neglected.

  15. A Sensorless Method for Detecting Spool Position in Solenoid Actuators

    Directory of Open Access Journals (Sweden)

    I. Dülk

    2013-06-01

    Full Text Available A method is developed to estimate the position of the moving part in a solenoid actuator. We superpose a sinusoidal component onto the base duty ratio of the drive PWM (Pulse Width Modulation, thus, a scan signal is generated which is used to first identify, then to “measure” the system during actuation. A model of the actuator device is derived from experimental analyses and the effects of e.g. scan signal frequency and supply voltage are studied. External force disturbances, which may be present in flow control applications, are also considered and an algorithm is provided for its compensation in position estimation, thus, force estimation is realized as well. The hardware requirements are low which makes the presented method suitable for cost effective embedded applications. Experimental results are also provided.

  16. Magnetic Actuators and Suspension for Space Vibration Control

    Science.gov (United States)

    Knospe, Carl R.; Allaire, Paul E.; Lewis, David W.

    1993-01-01

    The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals.

  17. Electromechanical deformation of conical dielectric elastomer actuator with hydrogel electrodes

    Science.gov (United States)

    Zhang, Chi; Sun, Wenjie; Chen, Hualing; Liu, Lei; Li, Bo; Li, Dichen

    2016-03-01

    A conical Dielectric Elastomer Actuator (DEA) undergoes large actuation strain in longitudinal direction when subject to a voltage across the membrane. The conical DEA is modeled using continuum mechanics and multilayered material thermodynamic theories which can consider not only the inhomogeneous deformation of the DEA but also the effect of elastomeric electrodes on the DEA. Hydrogels with lithium chloride electrolyte are synthesized and introduced as electrodes. The theory coincides well with the experimental results and succeeds in predicting the occurrence of loss of tension. At a low level of pre-stretch λp=2 , electric breakdown always occurs before the loss of tension, independent of shear modulus of hydrogels. When the pre-stretch increases to 4, the dominating failure mode changes from electric breakdown to loss of tension. At μGE L=6 kPa , loss of tension and electric breakdown almost happen simultaneously and the maximum actuation strain occurs at λp=4 .

  18. Optimal Sensor and Actuator Location for Unstable Systems

    DEFF Research Database (Denmark)

    Shaker, Hamid Reza; Tahavori, Maryamsadat

    2013-01-01

    Accurate and reliable process measurements play a key role in the success of process control. In addition to selecting the instrumentation hardware, it is important to determine which variables should be measured in a process. Therefore it is important to study techniques for placing sensors...... on the processes. Dually the problem of placing actuators on the processes is equally important. In this paper, the problem of determining optimal sensor and actuator locations for the linear systems is addressed. The problem of the sensor locations is viewed as the problem of maximizing the output energy...... generated by a given state and for the actuator locations is viewed as the problem of minimizing the input energy required to reach a given state. Such design problems occur in many applications, and therefore have been studied extensively. Unfortunately, the results in this context, which have been...

  19. A parallel leaf spring structure driven by piezoelectric bimorph actuators

    Science.gov (United States)

    Seki, Hiroya; Gohda, Tomio; Shimokohbe, Akira

    A parallel leaf spring structure driven by piezoelectric bimorph actuator is modelled using a Rayleigh-Ritz formulation and model truncation is done for feedback controller design. Using a strain gauge sensor, a precise positioning of the end point mass is realized. The position of the strain gauge sensor is found to be an important factor in achieving a stable response with an estimator based feedback control system. Also excitation of higher structural modes, which becomes an obstacle to a wide servo bandwidth actuator, is discussed. Using multi electrodes arranged on the bimorph actuator and appropriately tuning the voltage ratio applied to them, pole-zero cancellation of the higher modes is experimentally demonstrated.

  20. Muscular MEMS—the engineering of liquid crystal elastomer actuators

    Science.gov (United States)

    Petsch, S.; Khatri, B.; Schuhladen, S.; Köbele, L.; Rix, R.; Zentel, R.; Zappe, H.

    2016-08-01

    A new class of soft-matter actuator, the liquid crystal elastomer (LCE), shows promise for application in a wide variety of mechanical microsystems. Frequently referred to as an ‘artificial muscle’, this family of materials exhibits large actuation stroke and generates considerable force, in a compact form which may easily be combined with the structures and devices commonly used in microsystems and MEMS. We show here how standard microfabrication techniques may be used to integrate LCEs into mechanical microsystems and present an in-depth analysis of their mechanical and actuation properties. Using an example from micro-optics and optical MEMS, we demonstrate that their performance and flexibility allows realization of entirely new types of tunable optical functionality.

  1. Artificial heart for humanoid robot using coiled SMA actuators

    Science.gov (United States)

    Potnuru, Akshay; Tadesse, Yonas

    2015-03-01

    Previously, we have presented the design and characterization of artificial heart using cylindrical shape memory alloy (SMA) actuators for humanoids [1]. The robotic heart was primarily designed to pump a blood-like fluid to parts of the robot such as the face to simulate blushing or anger by the use of elastomeric substrates for the transport of fluids. It can also be used for other applications. In this paper, we present an improved design by using high strain coiled SMAs and a novel pumping mechanism that uses sequential actuation to create peristalsis-like motions, and hence pump the fluid. Various placements of actuators will be investigated with respect to the silicone elastomeric body. This new approach provides a better performance in terms of the fluid volume pumped.

  2. Development of soft robots using dielectric elastomer actuators

    Science.gov (United States)

    Godaba, Hareesh; Wang, Yuzhe; Cao, Jiawei; Zhu, Jian

    2016-04-01

    Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

  3. A planar nano-positioner driven by shear piezoelectric actuators

    Science.gov (United States)

    Dong, W.; Li, H.; Du, Z.

    2016-08-01

    A planar nano-positioner driven by the shear piezoelectric actuators is proposed in this paper based on inertial sliding theory. The performance of the nano-positioner actuated by different driving signals is analyzed and discussed, e.g. the resolution and the average velocity which depend on the frequency, the amplitude and the wave form of the driving curves. Based on the proposed design, a prototype system of the nano-positioner is developed by using a capacitive sensor as the measurement device. The experiment results show that the proposed nano-positioner is capable of outputting two-dimensional motions within an area of 10 mm × 10 mm at a maximum speed of 0.25 mm/s. The corresponding resolution can be as small as 21 nm. The methodology outlined in this paper can be employed and extended to shear piezoelectric actuators involved in high precision positioning systems.

  4. INSPECTION ROBOTS WITH PIEZO ACTUATORS: MODELING, SIMULATION AND PROTOTYPES

    Directory of Open Access Journals (Sweden)

    F. Becker

    2011-01-01

    Full Text Available Models, simulations and experimental setups of resonant inspection robots are presented. The goal is to show ways to cope with the new requirements and to use the given chances to create novel mobile robots. For the creation of a directed motion the vibration behavior of simple beams and plates is used. It is possible to design robots for 2-dimesnional locomotion which are characterized by a light weight, small size, relative simple design and the ability to create controllable motion using only one actuator. Different types of actuators for micro robots are presented and compared. Furthermore the dynamical behavior of a piezoelectric bending actuator under elastic boundary conditions is investigated and a model for the motion of the locomotion-generating limbs is presented. The comparison with experiments and prototypes shows that the results of the analytical and computational models agree 

  5. A biomorphic origami actuator fabricated by folding a conducting paper

    Energy Technology Data Exchange (ETDEWEB)

    Okuzaki, H; Saido, T; Suzuki, H; Hara, Y; Yan, H [Laboratory of Organic Robotics, Interdisciplinary Graduate School of Medicine and Engineering, University of Yamanashi, 4-4-37 Takeda, 400-8511 (Japan)], E-mail: okuzaki@yamanashi.ac.jp

    2008-08-15

    Cooperation between the electrical conductivity and hygroscopic nature of conducting polymers can provide an insight into the development of a new class of electro-active polymer (EAP) actuators or soft robots working in ambient air. In this paper, we describe an 'origami' actuator fabricated by folding a sheet of conducting 'paper'. The principle lies in the electrically induced changes in the elastic modulus of a humidosensitive conducting polymer film through reversible sorption and desorption of water vapor molecules, which is responsible for amplifying a contraction of the film ({approx} 1%) to more than a 100-fold expansion (> 100%) of the origami actuator. Utilizing the origami technique, we have fabricated a biomorphic origami robot by folding an electrochemically synthesized polypyrrole film into the figure of an accordion shape, which can move with a caterpillar-like motion by repeated expansion and contraction at a velocity of 2 cm min{sup -1}.

  6. Chord-wise Tip Actuation on Flexible Flapping Plates

    Science.gov (United States)

    Martin, Nathan; Gharib, Morteza

    2015-11-01

    The aerodynamic characteristics of low aspect ratio flapping plates are strongly influenced by the interaction between tip and edge vortices. This has led to the development of tip actuation mechanisms which bend the tip towards the root of the plate in the span-wise direction during oscillation to investigate its impact. In our current work, a tip actuation mechanism to bend a flat plate's two free corners towards one another in the chord-wise direction is developed using a shape memory alloy. The aerodynamic forces and resulting flow field are investigated from dynamically altering the tip chord-wise curvature while flapping. The frequency of oscillation, stroke angle, flexibility, and tip actuation timing are independently varied to determine their individual effects. These results will further the fundamental understanding of flapping wing aerodynamics. This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1144469.

  7. Droplets actuating chip based on electrowetting-on-dielectric

    Institute of Scientific and Technical Information of China (English)

    WU Jiangang; YUE Ruifeng; ZENG Xuefeng; LIU Litian

    2007-01-01

    A droplet-based actuating chip by using the method of electrowetting-on-dielectric (EWOD)was developed to manipulate the microfluidics.Here,the actuation mechanism of the sandwiched-configuration EWOD chips was carefully studied,and the movement of droplets was numerically analyzed by using the computational fluidic software,CFD-ACE+.The fabrication of the chip,including a heavily phosphorus-doped poly-silicon micro-electrode array and a thermally grown SiO2 dielectric layer,was exploited to improve the chip stability and decrease the actuation voltage.In experiments,the transportation of a deionized droplet of about 0.5 μL is successfully achieved in air by applying the low voltage of 45 V.

  8. Study on Multi-DOF Ultrasonic Actuator for Laparoscopic Instrument

    Science.gov (United States)

    Park, Shinsuk; Takemura, Kenjiro; Maeno, Takashi

    In surgical robots, compact manipulators with multi-degree-of-freedom (DOF) are essential owing to a small work volume in the patient body. Conventional single-DOF actuators such as electromagnetic motors require a multiple number of actuators to generate multi-DOF motion, which in turn results in bulky mechanism combined with transmission device. Our previous work has developed a compact ultrasonic motor capable of generating a multi-DOF rotation of a spherical rotor utilizing three natural vibration modes of a bar-shaped stator. The present study designs and builds a novel multi-DOF master-slave system for laparoscopic surgical procedures, using a single ultrasonic actuator. The system consists of surgical forceps on multi-DOF wrist with joystick controller. Experimental results have confirmed high responsiveness and precise position control of the master-slave system.

  9. Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

    Institute of Scientific and Technical Information of China (English)

    Thanhtam Ho; Sangyoon Lee

    2009-01-01

    This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion. The design of the robot leg is inspired by legged insects and animals,and the biomimetic concept is implemented in the robot in a simplified form, such that each leg of the robot has only one degree of freedom. The lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal plane. For the implementation of the self-contained mobile robot, a small power supply circuit is designed and installed on the robot. Experimental results show that the robot can locomote at about 50 mm.s-1 with the circuit on board, which can be considered as a significant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.

  10. Shape memory alloy actuation for a variable area fan nozzle

    Science.gov (United States)

    Rey, Nancy; Tillman, Gregory; Miller, Robin M.; Wynosky, Thomas; Larkin, Michael J.; Flamm, Jeffrey D.; Bangert, Linda S.

    2001-06-01

    The ability to control fan nozzle exit area is an enabling technology for next generation high-bypass-ratio turbofan engines. Performance benefits for such designs are estimated at up to 9% in thrust specific fuel consumption (TSFC) relative to current fixed-geometry engines. Conventionally actuated variable area fan nozzle (VAN) concepts tend to be heavy and complicated, with significant aircraft integration, reliability and packaging issues. The goal of this effort was to eliminate these undesirable features and formulate a design that meets or exceeds leakage, durability, reliability, maintenance and manufacturing cost goals. A Shape Memory Alloy (SMA) bundled cable actuator acting to move an array of flaps around the fan nozzle annulus is a concept that meets these requirements. The SMA bundled cable actuator developed by the United Technologies Corporation (Patents Pending) provides significant work output (greater than 2200 in-lb per flap, through the range of motion) in a compact package and minimizes system complexity. Results of a detailed design study indicate substantial engine performance, weight, and range benefits. The SMA- based actuation system is roughly two times lighter than a conventional mechanical system, with significant aircraft direct operating cost savings (2-3%) and range improvements (5-6%) relative to a fixed-geometry nozzle geared turbofan. A full-scale sector model of this VAN system was built and then tested at the Jet Exit Test Facility at NASA Langley to demonstrate the system's ability to achieve 20% area variation of the nozzle under full scale aerodynamic loads. The actuator exceeded requirements, achieving repeated actuation against full-scale loads representative of typical cruise as well as greater than worst-case (ultimate) aerodynamic conditions. Based on these encouraging results, work is continuing with the goal of a flight test on a C-17 transport aircraft.

  11. Design of an innovative dielectric elastomer actuator for space applications

    Science.gov (United States)

    Branz, Francesco; Sansone, Francesco; Francesconi, Alessandro

    2014-03-01

    The capability of Dielectric Elastomers to show large deformations under high voltage loads has been deeply investigated to develop a number of actuators concepts. From a space systems point of view, the advantages introduced by this class of smart materials are considerable and include high conversion efficiency, distributed actuation, self-sensing capability, light weight and low cost. This paper focuses on the design of a solid-state actuator capable of high positioning resolution. The use of Electroactive Polymers makes this device interesting for space mechanisms applications, such as antenna and sensor pointing, solar array orientation, attitude control, adaptive structures and robotic manipulators. In particular, such actuation suffers neither wear, nor fatigue issues and shows highly damped vibrations, thus requiring no maintenance and transferring low disturbance to the surrounding structures. The main weakness of this actuator is the relatively low force/torque values available. The proposed geometry allows two rotational degrees of freedom, and simulations are performed to measure the expected instant angular deflection at zero load and the stall torque of the actuator under a given high voltage load. Several geometric parameters are varied and their influence on the device behaviour is studied. Simplified relations are extrapolated from the numerical results and represent useful predicting tools for design purposes. Beside the expected static performances, the dynamic behaviour of the device is also assessed and the input/output transfer function is estimated. Finally, a prototype design for laboratory tests is presented; the experimental activity aims to validate the preliminary results obtained by numerical analysis.

  12. Modelling and control of double-cone dielectric elastomer actuator

    Science.gov (United States)

    Branz, F.; Francesconi, A.

    2016-09-01

    Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.

  13. Active control of structural vibration by piezoelectric stack actuators

    Institute of Scientific and Technical Information of China (English)

    NIU Jun-chuan; ZHAO Guo-qun; HU Xia-xia

    2005-01-01

    This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.

  14. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar

    2016-01-01

    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full...

  15. Microseconds-scale magnetic actuators system for plasma feedback stabilization

    Science.gov (United States)

    Kogan, K.; Be'ery, I.; Seemann, O.

    2016-10-01

    Many magnetic confinement machines use active feedback stabilization with magnetic actuators. We present a novel magnetic actuators system with a response time much faster than previous ones, making it capable of coping with the fast plasma instabilities. The system achieved a response time of 3 μs with maximal current of 500 A in a coil with inductance of 5.2 μH. The system is based on commercial solid-state switches and FPGA state machine, making it easily scalable to higher currents or higher inductivity.

  16. A Miniature Large Displacement Linear Nanopositioning Piezoelectric Actuator

    Institute of Scientific and Technical Information of China (English)

    Lu Qiuhong(卢秋红); Yan Guozheng

    2004-01-01

    A miniature linear piezoelectric actuator which moves based on inertia friction theory is described in this paper. The authors discuss its driving principle, dynamic model and experimental results.The piezoelectric actuator includes two piezoelectric elements.Through the sequentially deformations of the two piezo elements, the moving mass slides a miniature displacement. Many strokes will be added to be a large displacement.This type of piezoactuator has advantages in its dimension and motion type,so it can be miniaturized to do micro manipulation or micropositioning in microspace.

  17. Optimization of Moving Coil Actuators for Digital Displacement Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Bech, Michael Møller; Roemer, Daniel Beck;

    2016-01-01

    designs requires approximately 20 W on average and may be realized in 20 mm Ø 22.5 mm (height diameter) for a 20 kW pressure chamber. The optimization is carried out using the multi-objective Generalized Differential Evolution optimization algorithm GDE3 which successfully handles constrained multi...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...

  18. Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

    Science.gov (United States)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-01-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  19. ACTIVE VIBRATION SUPPRESSION VIA LINEARIZING HYSTERESIS OF PIEZOCERAMIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    HU Hong; SHI Hongyan; BEN MRAD Ridha

    2007-01-01

    A novel active Vibration control technique on the basis of linearized piezoelectric actuators is presented. An experimental apparatus consisting of a cantilever beam to which are attached strain patches and piezoceramic actuators to be used for active Vibration suppression is described. A dynamical model of the cantilever beam using Lagrange's equation and two coordinate Systems are presented. Based on the Lyapunov's direct method, an active Vibration Controller with hysteresis compensation is designed. The Controller is designed so that it guarantees the global stability of the overall System. The Controller developed is assessed experimentally.

  20. Design and development of multi-lane smart electromechanical actuators

    CERN Document Server

    Annaz, Fawaz Yahya

    2014-01-01

    Design and Development of Multi-Lane Smart Electromechanical Actuators presents the design of electromechanical actuators in two types of architectures, namely, Torque Summed Architecture (TSA) and Velocity Summed Architecture, (VSA). It examines them in: * Hardware redundancy, where the architecture is made up of 3 or 4 lanes. * Digital Math Model redundancy, where a more compact two lanes architectures will be presented. The book starts with the very basic concepts and introduces the design process logically so that an understanding of the smart multi-lane systems that drive an aileron

  1. Actuator prototype system by voice commands using free software

    Directory of Open Access Journals (Sweden)

    Jaime Andrango

    2016-06-01

    Full Text Available This prototype system is a software application that through the use of techniques of digital signal processing, extracts information from the user's speech, which is then used to manage the on/off actuator on a peripheral computer when vowels are pronounced. The method applies spectral differences. The application uses the parallel port as actuator, with the information recorded in the memory address 378H. This prototype was developed using free software tools for its versatility and dynamism, and to allow other researchers to base on it for further studies.

  2. A system look at electromechanical actuation for primary flight control

    OpenAIRE

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs) is one of the essential steps in the implementation of the ALL Electric Aircraft. There is a great deal of interest in the application of brushless motors (BM) with rare-earth magnet rotors using e...

  3. Pneumatic artificial muscle actuators for compliant robotic manipulators

    Science.gov (United States)

    Robinson, Ryan Michael

    Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

  4. Optimal placement of dampers and actuators based on stochastic approach

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A general method is developed for optimal application of dampers and actuators by installing them at optimal location on seismic-resistant structures. The study includes development of a statistical criterion, formulation of a general optimization problem and establishment of a solution procedure. Numerical analysis of the seismic response in time-history of controlled structures is used to verify the proposed method for optimal device application and to demonstrate the effectiveness of seismic response control with optimal device location. This study shows that the proposed method for the optimal device application is simple and general, and that the optimally applied dampers and actuators are very efficient for seismic response reduction.

  5. Nonlinear finite element modeling of THUNDER piezoelectric actuators

    Science.gov (United States)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-06-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (Thin Layer Unimorph Ferroelectric Driver) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  6. Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla

    Science.gov (United States)

    Guo, H. T.; Liao, W. H.

    2009-03-01

    The objective of this paper is to develop smart actuators for knee braces as assistive devices for helping disabled people to recover their mobility. The actuator functions as motor, clutch, and brake. In the design, magnetorheological (MR) fluids are utilized to generate controllable torque. To decrease the size of the actuator, motor and MR fluids are integrated. MR fluids are filled inside the DC motor based actuator. Additional design factors of smart actuators including influence of permanent magnet on MR fluids and dynamic sealing are also considered. Finite element model of the smart actuator is built and analyzed. A prototype of the smart actuator with two different inner armatures is fabricated and their characteristics are investigated. Torques are compared between simulation and experiments. The results show that the developed smart actuator with multiple functions is promising for assistive knee braces.

  7. Investigating the Electromechanical Coupling in Piezoelectric Actuator Drive Motor Under Heavy Load

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe;

    2014-01-01

    The Piezoelectric Actuator Drive (PAD) is an accurate, high-torque rotary piezoelectric motor that employs piezoelectric stack actuators and inverse hypocycloidal motion to generate rotation. Important factors that determine motor performance are the proper concentric alignment between the motor ...

  8. Experimental Data Collection and Modeling for Nominal and Fault Conditions on Electro-Mechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...

  9. Thermo-Electro-Mechanical Analysis of a Curved Functionally Graded Piezoelectric Actuator with Sandwich Structure

    Directory of Open Access Journals (Sweden)

    Liying Jiang

    2011-12-01

    Full Text Available In this work, the problem of a curved functionally graded piezoelectric (FGP actuator with sandwich structure under electrical and thermal loads is investigated. The middle layer in the sandwich structure is functionally graded with the piezoelectric coefficient g31 varying continuously along the radial direction of the curved actuator. Based on the theory of linear piezoelectricity, analytical solutions are obtained by using Airy stress function to examine the effects of material gradient and heat conduction on the performance of the curved actuator. It is found that the material gradient and thermal load have significant influence on the electroelastic fields and the mechanical response of the curved FGP actuator. Without the sacrifice of actuation deflection, smaller internal stresses are generated by using the sandwich actuator with functionally graded piezoelectric layer instead of the conventional bimorph actuator. This work is very helpful for the design and application of curved piezoelectric actuators under thermal environment.

  10. Characterization and Testing of an Electrorheological Fluid Valve for Control of ERF Actuators

    OpenAIRE

    Quang-Anh Nguyen; Steven Jens Jorgensen; Joseph Ho; Luis Sentis

    2015-01-01

    Previous studies of electrorheological fluids (ERFs) were motivated by brake, clutch, damping, haptic and resistive applications, but never motivated towards developing an ERF based-hydraulic rotary actuator. One design to make such an actuator is to use ERF-based valves. To fully understand the performance of such an actuator, it is imperative to study ERF valves. For this reason, this paper presents a summary of design considerations for creating ERF-based actuators, an ERF-based valve desi...

  11. Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators

    OpenAIRE

    Grosch, Patrick; Gregorio, Raffaele di; Thomas, Federico

    2010-01-01

    This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case study, an under-actuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution, from an inversion of the 6-3 fully-parallel manipulator (FPM). Moreover, the kinetostatic analysis of this under-actuated manipula...

  12. Monolithic integration of waveguide structures with surface-micromachined polysilicon actuators

    Energy Technology Data Exchange (ETDEWEB)

    Smith, J.H.; Carson, R.F.; Sullivan, C.T.; McClellan, G.

    1996-03-01

    The integration of optical components with polysilicon surface micromechanical actuation mechanisms show significant promise for signal switching, fiber alignment, and optical sensing applications. Monolithically integrating the manufacturing process for waveguide structures with the processing of polysilicon actuators allows actuated waveguides to take advantage of the economy of silicon manufacturing. The optical and stress properties of the oxides and nitrides considered for the waveguide design along with design, fabrication, and testing details for the polysilicon actuators are presented.

  13. An in situ heater for a phase-change-material-based actuation system

    International Nuclear Information System (INIS)

    This paper reports efforts to develop paraffin actuators that rely on a phase change to achieve actuation. While paraffin phase-change actuators have existed for some time, this work relies on heating the paraffin in situ, rather than using external heaters. Graphite is used to create an in situ heater that utilizes resistive heating as a voltage is applied across the graphite–paraffin wax mixture. The main motivation behind this work is to reduce the actuation time and power required. An added advantage of the developed in situ heater is the use of printed circuit board technology to fabricate the prototypes rapidly and in a cost-effective manner. A video microscope and IR camera are used to characterize the performance of the actuators built in this work. Different compositions of graphite in paraffin wax are used to measure the actuator performance characteristics such as actuation time, actuation height and power required. Both dc and a pulsed power input are used to test the prototypes. Comparison with a similar actuator that utilizes a thin film heater shows a 90% reduction in actuation time for similar power usage. The actuator developed as part of this work resulted in 0.577 mm dot height at 0.69 W power input in 6 s translating to ∼4 J/actuation for an actuator chamber of 2.82 µL. A new performance metric, 'effective actuation time (W s−1 mm−4)', is used to compare the performance of this technology with other phase-change-material-based actuators, and the actuator developed in this work is found to be 10 to 200 times better.

  14. Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages

    International Nuclear Information System (INIS)

    Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets using dc voltages (classical electrowetting). Electrical actuation of conducting droplets using ac voltages and the actuation of insulating droplets (using dc or ac voltages) has remained relatively unexplored. This paper utilizes an energy-minimization-based analytical framework to study the electrical actuation of a liquid droplet (electrically conducting or insulating) under ac actuation. It is shown that the electromechanical regimes of classical electrowetting, electrowetting under ac actuation and insulating droplet actuation can be extracted from the generic electromechanical actuation framework, depending on the electrical properties of the droplet, the underlying dielectric layer and the frequency of the actuation voltage. This paper also presents experiments which quantify the influence of the ac frequency and the electrical properties of the droplet on its velocity under electrical actuation. The velocities of droplets moving between two parallel plates under ac actuation are experimentally measured; these velocities are then related to the actuation force on the droplet which is predicted by the electromechanical model developed in this work. It is seen that the droplet velocities are strongly dependent on the frequency of the ac actuation voltage; the cut-off ac frequency, above which the droplet fails to actuate, is experimentally determined and related to the electrical conductivity of the liquid. This paper then analyzes and directly compares the various electromechanical regimes for the actuation of droplets in microfluidic applications

  15. Design and demonstration of a biomimetic wing section using lightweight piezoceramic composite actuator (LIPCA)

    Science.gov (United States)

    Lim, Sahng M.; Lee, Sangki; Park, Hoon C.; Yoon, Kwang J.; Goo, Nam Seo

    2003-08-01

    Biomimetic wing sections actuated by piezoceramics actuator LIPCA have been designed and their actuation displacements estimated by using the thermal analogy and MSC/NASTRAN based on the linear elasticity. The wing sections are fabricated as the design and tested for evaluation. Measured actuation displacements were larger than the estimated values mainly due to the material non-linearity of the PZT wafer. The biomimetic wing sections can be used for control surfaces of small scale UAVs.

  16. Post-buckled precompressed (PBP) subsonic micro flight control actuators and surfaces

    NARCIS (Netherlands)

    Barrett, R.; Vos, R.; De Breuker, R.

    2007-01-01

    This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements to provide much improved actuator performance. These PBP actuator elements are modeled using basic large deflection Euler-beam estimations accounting for laminated plate effects

  17. 30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water...

  18. Model and Design of a Power Driver for Piezoelectric Stack Actuators

    Directory of Open Access Journals (Sweden)

    Chiaberge M

    2010-01-01

    Full Text Available A power driver has been developed to control piezoelectric stack actuators used in automotive application. An FEM model of the actuator has been implemented starting from experimental characterization of the stack and mechanical and piezoelectric parameters. Experimental results are reported to show a correct piezoelectric actuator driving method and the possibility to obtain a sensorless positioning control.

  19. Battery powered high output voltage bidirectional flyback converter for cylindrical DEAP actuator

    DEFF Research Database (Denmark)

    Huang, Lina; Thummala, Prasanth; Zhang, Zhe;

    2012-01-01

    DEAP (Dielectric Electro Active Polymer) actuator is essentially a capacitive load and can be applied in various actuation occasions. However, high voltage is needed to actuate it. In this paper, a high voltage bidirectional flyback converter with low input voltage is presented. The fundamental....... The design parameters for flyback transformer and snubber circuits are illustrated. Moreover, the experimental waveforms are provided....

  20. A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept

    Directory of Open Access Journals (Sweden)

    Maarten Weckx

    2014-04-01

    Full Text Available The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. The innovation presented in this work is a two-degree of freedom variable stiffness actuator using the mechanically adjustable and controllable equilibrium position actuator (MACCEPA concept. The presented actuator is not a cascade of two single-degree of freedom actuators, but centralizes the two degrees of freedom in one single joint. Equilibrium position and stiffness of the actuator are, furthermore, independently controllable in both degrees of freedom. The design and experimental validation of the actuator are discussed in this work. The independence of adjusting the equilibrium position and stiffness of the actuator are experimentally validated. The results show that the measured characteristics of the actuator sufficiently match the theoretically calculated ones. Future work includes implementing the presented two-degree of freedom actuator in an application, like a bipedal robot or a robotic arm.

  1. 78 FR 67206 - Qualification Tests for Safety-Related Actuators in Nuclear Power Plants

    Science.gov (United States)

    2013-11-08

    ... COMMISSION Qualification Tests for Safety-Related Actuators in Nuclear Power Plants AGENCY: Nuclear...-Related Actuators in Nuclear Power Plants.'' This RG is being revised to provide applicants and licensees with the most current information on testing safety-related actuators in nuclear power plants. This...

  2. Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-10-15

    For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

  3. Design and testing of piezoelectric flight control actuators for hard-launch munitions

    NARCIS (Netherlands)

    Barrett, R.; Lee, G.

    2004-01-01

    A new technique is presented for designing actuators for guided hard-launch adaptive munitions by using actuator and substrate strain limits, static analysis methods and matching the local actuator strains along its length by varying the width. This Load-Matched design technique leads to an exponent

  4. Casimir and hydrodynamic force influence on microelectromechanical system actuation in ambient conditions

    NARCIS (Netherlands)

    Sedighi Ghozotkhar, Mehdi; Palasantzas, Georgios

    2014-01-01

    Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating

  5. Fabrication of Spiral Micro Coil Lines for Electromagnetic Actuators

    Science.gov (United States)

    Setomoto, Masaru; Matsumoto, Yoshifumi; Yamashita, Shuhei; Noda, Daiji; Hattori, Tadashi

    With the recent progress in downsizing and the sophistication of various industrial products, the need for more compact actuators is increasing. Actuators account for the larger percentage of volume and weight of a product compared with other parts and devices. We have proposed fabrication process of spiral micro coils that employs X-ray lithography. This process will be effective for fabricating coils of a high aspect ratio lines. Reducing the size of coil lines and increasing their aspect ratio are expected to reduce the size and increase the output of actuators. Using this process, we formed spiral coil lines that can be used in electromagnetic actuators. X-ray lithography was used to form a high aspect ratio helical structure on the surface of an acrylic resin pipe. As a measure to suppress void generation, which is one of the shortcomings of electroplating processes, the sputtering apparatus and plating equipment were improved, a pretreatment process was additionally provided, and the actual electroplating method was improved. As a result, a void-free metallic deposit could be formed on a thin coil line. At the final step of this research study, we etched the coil line to determine optimal etching conditions.

  6. On electrostatically actuated NEMS/MEMS circular plates

    Science.gov (United States)

    Caruntu, Dumitru I.; Alvarado, Iris

    2011-04-01

    This paper deals with electrostatically actuated micro and nano-electromechanical (MEMS/NEMS) circular plates. The system under investigation consists of two bodies, a deformable and conductive circular plate placed above a fixed, rigid and conductive ground plate. The deformable circular plate is electrostatically actuated by applying an AC voltage between the two plates. Nonlinear parametric resonance and pull-in occur at certain frequencies and relatively large AC voltage, respectively. Such phenomena are useful for applications such as sensors, actuators, switches, micro-pumps, micro-tweezers, chemical and mass sensing, and micro-mirrors. A mathematical model of clamped circular MEMS/NEMS electrostatically actuated plates has been developed. Since the model is in the micro- and nano-scale, surface forces, van der Waals and/or Casimir, acting on the plate are included. A perturbation method, the Method of Multiple Scales (MMS), is used for investigating the case of weakly nonlinear MEMS/NEMS circular plates. Two time scales, fast and slow, are considered in this work. The amplitude-frequency and phase-frequency response of the plate in the case of primary resonance are obtained and discussed.

  7. Fabrication of a peristaltic micro pump with novel cascaded actuators

    International Nuclear Information System (INIS)

    This paper presents the fabrication of an all-PDMS (polydimethylsiloxane) micro pump with novel cascaded actuators as dynamic valves. The micro pump consists of three pneumatic actuators in series and a micro fluidic channel connecting two fluidic inlet and outlet ports. The three-layer bonded pump structure is fabricated through a typical moulding process of PDMS and a simple heating process for the PDMS-to-PDMS bonding. The total size of the micro pump is 5 mm × 5 mm. The dynamic valve pattern of the single actuator is observed under various operational conditions of the square-wave input signal for the estimation of its volume stroke. The maximum volume stroke of the pneumatic actuator for liquid is about 85% of the volume of the liquid chamber. Three types of liquid-pumping tests are performed for characterization of the micro pump such as backpressure, frequency and viscous liquids. The flow rate of the de-ionized (DI) water is about 73.9 nl min−1 at zero backpressure. As the hydraulic difference between inlet and outlet ports increases, the flow rate gradually decreases. In the case of the frequency responses, the micro pump has the maximum flow rate of the DI water at 2 Hz. The viscosity-dependent flow rate of the working fluids is also observed

  8. Conducting IPN actuator/sensor for biomimetic vibrissa system

    Science.gov (United States)

    Festin, N.; Plesse, C.; Pirim, P.; Chevrot, C.; Vidal, F.

    2014-03-01

    Electroactive polymers, or EAPs, are polymers that exhibit a change in size or shape when stimulated by an electric field. The most common applications of this type of material are in actuators and sensors. One promising technology is the elaboration of electronic conducting polymers based actuators with Interpenetrating Polymer Networks (IPNs) architecture. Their many advantageous properties as low working voltage, light weight and high lifetime make them very attractive for various applications including robotics. Conducting IPNs were fabricated by oxidative polymerization of 3,4-ethylenedioxythiophene within a flexible Solid Polymer Electrolytes (SPE) combining poly(ethylene oxide) and Nitrile Butadiene Rubber. SPE mechanical properties and ionic conductivities in the presence of 1-ethyl-3- methylimidazolium bis-(trifluoromethylsulfonyl)-imide (EMITFSI) have been characterized. The presence of the elastomer within the SPE greatly improves the actuator performances. The free strain as well as the blocking force was characterized as a function of the actuator length. The sensing properties of those conducting IPNs allow their integration into a biomimetic perception prototype: a system mimicking the tactile perception of rat vibrissae.

  9. Precision Linear Actuator for Space Interferometry Mission (SIM) Siderostat Pointing

    Science.gov (United States)

    Cook, Brant; Braun, David; Hankins, Steve; Koenig, John; Moore, Don

    2008-01-01

    'SIM PlanetQuest will exploit the classical measuring tool of astrometry (interferometry) with unprecedented precision to make dramatic advances in many areas of astronomy and astrophysics'(1). In order to obtain interferometric data two large steerable mirrors, or Siderostats, are used to direct starlight into the interferometer. A gimbaled mechanism actuated by linear actuators is chosen to meet the unprecedented pointing and angle tracking requirements of SIM. A group of JPL engineers designed, built, and tested a linear ballscrew actuator capable of performing submicron incremental steps for 10 years of continuous operation. Precise, zero backlash, closed loop pointing control requirements, lead the team to implement a ballscrew actuator with a direct drive DC motor and a precision piezo brake. Motor control commutation using feedback from a precision linear encoder on the ballscrew output produced an unexpected incremental step size of 20 nm over a range of 120 mm, yielding a dynamic range of 6,000,000:1. The results prove linear nanometer positioning requires no gears, levers, or hydraulic converters. Along the way many lessons have been learned and will subsequently be shared.

  10. Optimization Design for a Dielectric Elastomer Membrane Actuator

    Science.gov (United States)

    He, Tianhu; Li, Yanyan; Li, Huimin; Chen, Cheng

    2013-03-01

    Due to the large voltage-induced strain along with other unique attributes, dielectric elastromers are being developed as transducers for broad applications in soft robots, adaptive structures, medical devices, energy harvesting and so on. Due to nonlinear large deformation and diverse modes of failure, it has been challenging to model dielectric transducers. This paper focuses on the optimization design of an actuator made of a layer of dielectric elastomer membrane and deformed into an out-of plane axisymmetric shape. The optimization procedure is demonstrated by examining the effect of three designing parameters, originated from the pre-stretch of the membrane, on the performance of the actuator, and by determining the region of allowable states in terms of several typical modes of failure. The equations of state are solved numerically by shooting method and the obtained numerical results indicate that the considered variables are sensitive to the designing parameters and that it is feasible to improve the performance of the actuator by choosing the designing parameters judiciously and averting the modes of failure. The approach presented here provides some guidelines in optimizing such actuators.

  11. High-frequency synthetic ultrasound array incorporating an actuator

    Science.gov (United States)

    Ritter, Timothy A.; Shrout, Thomas R.; Shung, K. Kirk

    2001-05-01

    Ultrasound imaging at frequencies above 20 MHz relies almost exclusively on single-element transducers. IN order to apply array technology at these frequencies, several practical problems must be solved, including spatial scale and fabrication limitations, low device capacitance, and lack of a hardware beamformer. One method of circumventing these problems is to combine an array, an actuator, and a synthetic aperture software beamformer. The array can use relatively wide elements spaced on a coarse pitch. The actuator is used to move the array in short steps (less than the element pitch), and pulse-echo data is acquired at intermediate sample positions. The synthetic aperture beamformer reconstructs the image from the pulse-echo data. A 50 MHz example is analyzed in detail. Estimates of signal-to-noise reveal performance comparable to a standard phased array; furthermore, the actuated array requires half the number of elements, the elements are 8x wider, and only one channel is required. Simulated three-dimensional point spread functions demonstrate side lobe levels approaching - 40dB and main beam widths of 50 to 100 microns. A 50 MHz piezo-composite array design has been tested which displays experimental bandwidth of 70% while maintaining high sensitivity. Individual composite sub-elements are 18 microns wide. Once this array is integrated with a suitable actuator, it is anticipated that a tractable method of imaging with high frequency arrays will result.

  12. 3-D Separation Control using Spatially-Compact, Pulsed Actuation

    Science.gov (United States)

    Woo, George T. K.; Glezer, Ari

    2013-11-01

    The dynamics of controlled 3-D transitory attachment of stalled flow over a dynamically pitching 2-D airfoil are investigated in wind tunnel experiments. Pulsed actuation is effected over a spanwise fraction of the separated domain on a time scale that is an order of magnitude shorter than the airfoil's characteristic convective time scale using surface-integrated pulsed, combustion-driven actuator jets. The formation, evolution, and advection of vorticity concentrations over the airfoil and in its near wake are computed from high-resolution, phase-locked PIV measurements of the flow field in multiple cross-stream planes. It is shown that transitory attachment spreads toward the outboard, unactuated flow domains and exceeds the spanwise width of the actuation. The attachment is preceded by the formation of 3-D vortical structures that are advected and shed into the near wake. The effect of the actuation on the variation of the lift and pitching moment during the pitching cycle is altered significantly with its phase delay relative to the airfoil's pitching motion and can significantly mitigate the adverse aerodynamic effects of the dynamic stall. Supported by AFOSR.

  13. A vacuum-driven peristaltic micropump with valved actuation chambers

    International Nuclear Information System (INIS)

    This paper presents a simple peristaltic micropump design incorporated with valved actuation chambers and propelled by a pulsed vacuum source. The vacuum-driven peristaltic micropump offers high pumping rates, low backflow, appreciable tolerance to air bubbles, and minimal destruction to fluid contents. The pumping device, fabricated by laser micromachining and plasma bonding of three polydimethylsiloxane (PDMS) layers, includes a pneumatic network, actuation membranes, and microfluidic channels. As the key to peristaltic motion, the sequential deflection of the elastic membranes is achieved by periodic pressure waveforms (negative) traveling through the pneumatic network, provided by a vacuum source regulated by an electromagnetic valve. This configuration eliminates the complicated control logic typically required in peristaltic motion. Importantly, the valved actuation chambers substantially reduce backflow and improve the pumping rates. In addition, the pneumatic network with negative pressure provides a means to effectively remove air bubbles present in the microflow through the gas-permeable PDMS membrane, which can be highly desired in handling complex fluidic samples. Experimental characterization of the micropump performance has been conducted by controlling the resistance of the pneumatic network, the number of normally closed valves, the vacuum pressure, and the frequency of pressure pulses. A maximal flow rate of 600 µL min−1 has been optimized at the pulsed vacuum frequency of 30 Hz with a vacuum pressure of 50 kPa, which is comparable to that of compressed air-actuated peristaltic micropumps

  14. Development of active rear steer actuator. Development of four wheel steer actuator for active safety; Active rear steer actuator no kaihatsu. Yobo anzen ni muketa 4WS actuator no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Yamanaka, T. [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, ecology, energy saving and safety have become important issues. And Active Safety is spotlighted in vehicle control area. Many researches and developments on four wheel steer system have been done to improve vehicle stability. We have developed the Active Rear Steer system with electromechanical Actuator, which is mass-productive, compact, and high response and durable. 10 figs., 5 tabs.

  15. Influence of anisotropic piezoelectric actuators on wing aerodynamic forces

    Institute of Scientific and Technical Information of China (English)

    GUAN De; LI Min; LI Wei; WANG MingChun

    2008-01-01

    Changing the shape of an airfoil to enhance overall aircraft performance has always been s goal of aircraft designers.Using smart material to reshape the wing can improve aerodynamic performance.The influence of anisotropic effects of piezo-electric actuators on the aerodynamic characteristics of a simplified HALE wing model was investigated.Test verification was conducted.

  16. Self-organized pulse switching for binary sensing and actuation

    Science.gov (United States)

    Huo, Qiong; Dong, Bo; Biswas, Subir

    2013-05-01

    This paper presents a novel energy-efficient distributed self-organized pulse switching architecture with a cell based event localization for wireless sensor and actuator network applications. The key idea of this pulse switching architecture is to abstract a single pulse, as opposed to multi-bit packets, as the information exchange mechanism. Unlike multi-bit packet communication, the proposed pulse switching architecture is based on pulse communications where a node either transmits a pulse or keeps silent at every time unit. Specifically, an event can be coded as a single pulse in a specific time unit with respect to the global clock. Then the pulse is transported multi-hop while preserving the event's localization information in the form of temporal pulse position representing its originating cell, destination cell and next-hop cell. The proposed distributed pulse switching is shown to be energy-efficient compared to traditional packet switching especially for binary event sensing and actuation applications. Binary event sensing and actuation with conventional packet transport can be prohibitively energy-inefficient due to the communication, processing, and buffering overheads of the large number of bits within a packet's data, header, and preambles. This paper presents a joint MAC and Routing architecture for self-organized distributed pulse switching. Through simulation experiments, it is shown that pulse switching can be an effective distributed means for event based networking in wireless sensor and actuator networks, which can potentially replace the packet transport when the information to be transported is binary in nature.

  17. An autonomous actuator driven by fluctuations in ambient humidity

    Science.gov (United States)

    Arazoe, Hiroki; Miyajima, Daigo; Akaike, Kouki; Araoka, Fumito; Sato, Emiko; Hikima, Takaaki; Kawamoto, Masuki; Aida, Takuzo

    2016-10-01

    Devices that respond to negligibly small fluctuations in environmental conditions will be of great value for the realization of more sustainable, low-power-consumption actuators and electronic systems. Herein we report an unprecedented film actuator that seemingly operates autonomously, because it responds to the adsorption and desorption of a minute amount of water (several hundred nanograms per 10 mm2) possibly induced by fluctuations in the ambient humidity. The actuation is extremely rapid (50 ms for one curl) and can be repeated >10,000 times without deterioration. On heating or light irradiation, the film loses adsorbed water and bends quickly, so that it can jump vertically up to 10 mm from a surface or hit a glass bead. The film consists of a π-stacked carbon nitride polymer, formed by one-pot vapour-deposition polymerization of guanidinium carbonate, and is characterized by a tough, ultralightweight and highly anisotropic layered structure. An actuator partially protected against water adsorption is also shown to walk unidirectionally.

  18. Verification and validation of an actuator disc model

    DEFF Research Database (Denmark)

    Réthoré, Pierre-Elouan; Laan, van der, Paul Maarten; Troldborg, Niels;

    2014-01-01

    Wind turbine wake can be studied in computational fluid dynamics with the use of permeable body forces (e.g. actuator disc, line and surface). This paper presents a general flexible method to redistribute wind turbine blade forces as permeable body forces in a computational domain. The method can...

  19. Geometry adaptive control of a composite reflector using PZT actuator

    Science.gov (United States)

    Lan, Lan; Jiang, Shuidong; Zhou, Yang; Fang, Houfei; Tan, Shujun; Wu, Zhigang

    2015-04-01

    Maintaining geometrical high precision for a graphite fiber reinforced composite (GFRC) reflector is a challenging task. Although great efforts have been placed to improve the fabrication precision, geometry adaptive control for a reflector is becoming more and more necessary. This paper studied geometry adaptive control for a GFRC reflector with piezoelectric ceramic transducer (PZT) actuators assembled on the ribs. In order to model the piezoelectric effect in finite element analysis (FEA), a thermal analogy was used in which the temperature was applied to simulate the actuation voltage, and the piezoelectric constant was mimicked by a Coefficient of Thermal Expansion (CTE). PZT actuator's equivalent model was validated by an experiment. The deformations of a triangular GFRC specimen with three PZT actuators were also measured experimentally and compared with that of simulation. This study developed a multidisciplinary analytical model, which includes the composite structure, thermal, thermal deformation and control system, to perform an optimization analysis and design for the adaptive GFRC reflector by considering the free vibration, gravity deformation and geometry controllability.

  20. Influence of anisotropic piezoelectric actuators on wing aerodynamic forces

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Changing the shape of an airfoil to enhance overall aircraft performance has always been a goal of aircraft designers. Using smart material to reshape the wing can improve aerodynamic performance. The influence of anisotropic effects of piezoelectric actuators on the aerodynamic characteristics of a simplified HALE wing model was investigated. Test verification was conducted.

  1. Piezoelectric Composite Actuators: Modelling of the Static and Dynamic Behaviour

    NARCIS (Netherlands)

    Wiwattananon, P.

    2013-01-01

    Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for m

  2. Structural/control system optimization with variable actuator masses

    Science.gov (United States)

    Jin, Ik M.; Sepulveda, Abdon E.

    1993-01-01

    A method is presented to integrate the design space for structural/control system optimization problems in the case of linear state feedback control. Nonstructural lumped masses and control system design variables as well as structural sizing variables are all treated equally as independent design variables in the optimization process. Structural and control design variable linking schemes are used in order to avoid a prohibitively large increase in the total number of independent design variables. When actuator masses are treated as nonstructural lumped mass design variables, special consideration is given to the relation between the transient peak responses and the required actuator masses which is formulated as a behavior constraint form. The original nonlinear mathematical programming problem based on a finite element formulation and linear state feedback is replaced by a sequence of explicit approximate problems exploiting various approximation concepts such as design variable linkings, temporary constraint deletion and first order Taylor series expansion of nonlinear behavior constraints in terms of intermediate design variables. Examples which involve a variety of dynamic behavior constraints (including constraints on closed-loop eigenvalues, peak transient displacements, peak actuator forces, and relations between the peak responses and the actuator masses) are effectively solved by using the method presented.

  3. Preisach model of hysteresis for the Piezoelectric Actuator Drive

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe;

    2015-01-01

    hysteretic nonlinearities. In order to model these nonlinearities, the first-order hysteresis reversal curves of the actuators are measured and a discrete Preisach model is derived. This forms a basis that enables the study of different compensation methods. The results show matching between measured...

  4. Deformable mirrors : Design fundamentals for force actuation of continuous facesheets

    NARCIS (Netherlands)

    Ravensbergen, S.K.; Hamelinck, R.F.H.M.; Rosielle, P.C.J.N.; Steinbuch, M.

    2009-01-01

    Adaptive Optics is established as essential technology in current and future ground based (extremely) large telescopes to compensate for atmospheric turbulence. Deformable mirrors for astronomic purposes have a high number of actuators (> 10k), a relatively large stroke (> 10µm) on a small spacing (

  5. Mechanical behavior analysis on electrostatically actuated rectangular microplates

    International Nuclear Information System (INIS)

    Microplates are widely used in various MEMS devices based on electrostatic actuation such as MEMS switches, micro pumps and capacitive micromachined ultrasonic transducers (CMUTs). Accurate predictions for the mechanical behavior of the microplate under electrostatic force are important not only for the design and optimization of these electrostatic devices but also for their operation. This paper presents a novel reduced-order model for electrostatically actuated rectangular and square microplates with a new method to treat the nonlinear electrostatic force. The model was developed using Galerkin method which turned the partial-differential equation governing the microplates into an ordinary equation system. Using this model and cosine-like deflection functions, explicit expressions were established for the deflection and pull-in voltage of the rectangular and square microplates. The theoretical results were well validated with the finite element method simulations and experimental data of literature. The expressions for the deflection analysis are able to predict the deflection up to the pull-in position with an error less than 5.0%. The expressions for the pull-in voltage analysis can determine the pull-in voltages with errors less than 1.0%. Additionally, the method to calculate the capacitance variation of the electrostatically actuated microplates was proposed. These theoretical analyses are helpful for design and optimization of electrostatically actuated microdevices. (paper)

  6. Complaint liquid metal electrodes for dielectric elastomer actuators

    Science.gov (United States)

    Finkenauer, Lauren R.; Majidi, Carmel

    2014-03-01

    This work presents a liquid-phase metal electrode to be used with poly(dimethylsiloxane) (PDMS) for a dielectric elastomer actuator (DEA). DEAs are favorable for soft-matter applications where high efficiency and response times are desirable. A consistent challenge faced during the fabrication of these devices is the selection and deposition of electrode material. While numerous designs have been demonstrated with a variety of conductive elastomers and greases, these materials have significant and often intrinsic shortcomings, e.g. low conductivity, hysteresis, incapability of large deformations, and complex fabrication requirements. The liquid metal alloy eutectic Gallium-Indium (EGaIn) is a promising alternative to existing compliant electrodes, having both high conductivity and complete soft-matter functionality. The liquid electrode shares almost the same electrical conductivity as conventional metal wiring and provides no mechanical resistance to bending or stretching of the DEA. This research establishes a straightforward and effective method for quickly depositing EGaIn electrodes, which can be adapted for batch fabrication, and demonstrates the successful actuation of sample curved cantilever elastomer actuators using these electrodes. As with the vast majority of electrostatically actuated elastomer devices, the voltage requirements for these curved DEAs are still quite significant, though modifications to the fabrication process show some improved electrical properties. The ease and speed with which this method can be implemented suggests that the development of a more electronically efficient device is realistic and worthwhile.

  7. Zipping dielectric elastomer actuators: characterization, design and modeling

    Science.gov (United States)

    Maffli, L.; Rosset, S.; Shea, H. R.

    2013-10-01

    We report on miniature dielectric elastomer actuators (DEAs) operating in zipping mode with an analytical model that predicts their behavior. Electrostatic zipping is a well-known mechanism in silicon MEMS to obtain large deformations and forces at lower voltages than for parallel plate electrostatic actuation. We extend this concept to DEAs, which allows us to obtain much larger out-of-plane displacements compared to silicon thanks to the softness of the elastomer membrane. We study experimentally the effect of sidewall angles and elastomer prestretch on 2.3 mm diameter actuators with PDMS membranes. With 15° and 22.5° sidewall angles, the devices zip in a bistable manner down 300 μm to the bottom of the chambers. The highly tunable bistable behavior is controllable by both chamber geometry and membrane parameters. Other specific characteristics of zipping DEAs include well-controlled deflected shape, tunable displacement versus voltage characteristics to virtually any shape, including multi-stable modes, sealing of embedded holes or channels for valving action and the reduction of the operating voltage. These properties make zipping DEAs an excellent candidate for applications such as integrated microfluidics actuators or Braille displays.

  8. Contribution to permanent magnet excited dc linear actuators

    Energy Technology Data Exchange (ETDEWEB)

    Okonkwo, R.C.; Hanitsch, R. [Technische Univ. Berlin (Germany)

    1998-07-01

    In this paper an efficient method for the computation of magnetic fields and forces in dc linear actuators built with Sm{sub 2}Co{sub 17} - permanent magnet is presented. The results obtained show good agreement with measurements. (orig.)

  9. Dependence of piezoelectric properties on layer thickness for multilayer actuators

    NARCIS (Netherlands)

    Groen, W.A.; Prijs, K.; Saeed, S.

    2010-01-01

    In general, it has been reported that the piezoelectric properties in multilayer actuators decrease for layer thicknesses below 20 microns. This has been investigated for PXE55 which is a material based on PLZT-Pb(Mg 1/2W1/2)O3 and PG01 which is a low sintering version of this material. Results show

  10. Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks

    NARCIS (Netherlands)

    Marin-Perianu, Mihai; Bosch, Stephan; Marin-Perianu, Raluca; Scholten, Hans; Havinga, Paul

    2010-01-01

    A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using veh

  11. Smart structures for deformable mirrors actuated by shape memory alloy

    Science.gov (United States)

    Riva, M.; Bettini, P.; Di Landro, L.; Sala, G.; Zerbi, F. M.

    2010-07-01

    Deformable mirrors actuated by smart structures are promising devices for next generation astronomical instrumentation. Thermal activated Shape Memory Alloys are materials able to recover their original shape, after an external deformation, if heated above a characteristic temperature. If the recovery of the shape is completely or partially prevented by the presence of constraints, the material can generate recovery stress. Thanks to this feature, these materials can be positively exploited in Smart Structures if properly embedded into host materials. This paper will show the technological processes developed for an efficient use of SMA-based actuators embedded in smart structures tailored to astronomical instrumentation. In particular the analysis of the interface with the host material. Some possible modeling approaches to the actuators behavior will be addressed taking into account trade-offs between detailed analysis and overall performance prediction as a function of the computational time. We developed a combined Finite Element and Raytracing analysis devoted to a parametric performance predictions of a SMA based substrate applicable to deformable mirrors. We took in detail into account the possibility to change the focal length of the mirror keeping a satisfactory image quality. Finally a possible approach with some preliminary results for an efficient control system for the strongly non-linear SMA actuators will be presented.

  12. Design of Transputer Controllers for Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...

  13. Sinus actuator solves emc problems; Sinussteller loest EMV-Probleme

    Energy Technology Data Exchange (ETDEWEB)

    Kammerer, Olaf [Systemtechnik LEBER GmbH und Co. KG, Schwaig (Germany)

    2009-11-15

    The steep slope of the phase angle variation control tend to cause problems of electromagnetic compatibility. A sinus actuator controls the amplitude of the current continuously from 0 to 100 percent. It also has low power loss and requires no rectifier. (orig.)

  14. Electro-active paper for a durable biomimetic actuator

    Science.gov (United States)

    Yun, Sung-Ryul; Yun, Gyu Young; Kim, Jung Hwan; Chen, Yi; Kim, Jaehwan

    2009-02-01

    Cellulose electro-active paper (EAPap), known as a smart material, has merits in terms of low voltage operation, light weight, dryness, low power consumption, biodegradability, abundance and low price. Since EAPap requires low power consumption, a remotely driven actuator has been proposed using microwave power transmission. This concept is attractive for many biomimetic systems such as crawling micro-insect robots, flying objects like dragon flies and smart wallpapers. However, the actuation performance of EAPap is sensitive to humidity and degrades with time. Thus, in this paper, a durable EAPap is studied. The fabrication of EAPap is explained and the actuation performance is shown with applied electric field, frequency, humidity level and time. The fabrication process includes dissolving cellulose fibers, eliminating solvent and Li ions with a mixture of deionized water and isopropyl alcohol, washing with water, drying and coating with gold. The morphology of the fabricated EAPap is analyzed by taking scanning electron microscope images and x-ray diffractograms. The actuation performance is tested in terms of bending displacement with frequency, time and humidity level

  15. Nonlinear behaviour of electrostatically actuated carbon nanotube-based devices

    International Nuclear Information System (INIS)

    In this paper nonlinear behaviour of electrostatically actuated carbon nanotubes (CNTs) is investigated. The model comprises a clamped-clamped CNT suspended over a graphite ground electrode plate from which a potential difference is imposed. The actuation is based on ac and dc applied voltages and it is assumed that the neutral axis of bending is stretched when the beam is deflected, and also, the interatomic interaction forces between CNT and ground plate are considered. The versatile Galerkin's method is employed to reduce the nonlinear integral-partial-differential equation of motion to a nonlinear ordinary differential equation in time, and then, the reduced equation is solved by direct numerical integration. In the dc voltage actuation case, the pull-in/pull-out phenomena, hysteresis characteristic, pull-in time duration and the response of the system are studied. The obtained results are compared with the molecular dynamics method. Eventually, a nano-switch immune to input noise is proposed, which relies on the hysteresis characteristic of the system. In combined ac and dc voltage actuations, the vibrational behaviour and nonlinear frequency response of nano-resonator are studied.

  16. Investigation on the magnetomechanical behavior of trilayered GM actuator

    Institute of Scientific and Technical Information of China (English)

    Heung-Shik Lee; Chongdu Cho

    2008-01-01

    In this article, it was suggested a TbFe/Co/Dy trilayered GM (Giant Magnetostrictive) film type actuator and investigated the magnetomechanical characteristics of the actuator for micro application. The trilayered films were fabricated at different thickness ratios to get an optimized structure. TbFe had positive GM properties, and cobalt, dysprosium layers made the magnetostriction property of composite film increase in low magnetic field. To fabricate the Si based microactuator with trilayered film, micromachining processes including RIE (Reactive Ion Etching) and selective DC magnetron sputtering techniques were combined. The deposited film thicknesses were measured by X-ray diffraction (XRD). As a result, the magnetization of the film on the fabricated actuator was observed to characterize the magnetic properties of the TbFe/Co/Dy film using VSM (Vibrating Sample Magnetometer). The magnetostriction of the actuator was determined by measuring the differences of curvature of the film coated silicon substrates using the optical cantilever method, and the deflections were also estimated under the external magnetic field lower than 0.5T for micro-system applications.

  17. Adaptive active control of periodic vibration using maglev actuators

    Science.gov (United States)

    An, Fengyan; Sun, Hongling; Li, Xiaodong

    2012-04-01

    In this paper, active control of periodic vibration is implemented using maglev actuators which exhibit inherent nonlinear behaviors. A multi-channel feedforward control algorithm is proposed to solve these nonlinear problems, in which maglev actuators are treated as single-input-single-output systems with unknown time-varying nonlinearities. A radial basis function network is used by the algorithm as its controller, whose parameters are adapted only with the model of the linear system in the secondary path. Compared with the strategies in the conventional magnetic-levitation system control as well as nonlinear active noise/vibration control, the proposed algorithm has the advantage that the nonlinear modeling procedure of maglev actuators and the usage of displacement sensors could be both avoided. Numerical simulations and real-time experiments are carried out based on a multiple-degree-of-freedom vibration isolation system. The results show that the proposed algorithm not only could efficiently compensate for the actuators' time-varying nonlinearities, but also has the ability to greatly attenuate the energy of periodic vibration.

  18. Magnetically actuated patterns for bioinspired reversible adhesion (dry and wet).

    Science.gov (United States)

    Drotlef, Dirk-Michael; Blümler, Peter; del Campo, Aránzazu

    2014-02-01

    A facile strategy to obtain magnetically actuated arrays of micropillars able to undergo reversible, homogeneous, drastic, and tunable geometrical changes upon application of a magnetic field with variable strength is demonstrated. A magnetically tunable gecko-inspired adhesive that works under dry and wet conditions is realized using elastomeric micropatterns containing magnetic microparticles.

  19. Distributed sensing and actuation over bluetooth for unmanned air vehicles

    OpenAIRE

    Afonso, José A.; Coelho, Ezequiel T.; Carvalhal, Paulo; Ferreira, Manuel João Oliveira; Santos, Cristina; Silva, Luís F.; Almeida, Heitor

    2006-01-01

    A short range wireless network platform, based on Bluetooth technology and on a Round Robin scheduling is presented. The objective is to build an application independent platform, to support a distributed sensing and actuation control system, which will be used in an Unmanned Aerial Vehicle (UAV). This platform provides the advantages of wireless communications while assuring low weight, small energy consumption and reliable communications.

  20. Measurements on the Thunder TH-6R actuator

    DEFF Research Database (Denmark)

    Buhl, T.; Gaunaa, Mac; Bak, Christian;

    2005-01-01

    This report is a collection of the measurements carried out on the TH-6R actuator from Face International Co. The work is a part of the ADAPWING project, which aims at developing a method to alleviate some of the fluctuating response of a wind turbine byusing adaptive trailing edge geometry. The ...

  1. Nonlinear Model-Based Fault Detection for a Hydraulic Actuator

    NARCIS (Netherlands)

    Van Eykeren, L.; Chu, Q.P.

    2011-01-01

    This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost effect

  2. Key value propositions in applications for dielectric elastomer actuators

    DEFF Research Database (Denmark)

    Lautrop, Asger; Elena, Maria; Poole, Alan

    2015-01-01

    This work identifies and clarifies tendencies in the performance metrics of dielectric elastomer actuators with respect to different application requirements. The study is based on real proposed applications and therefore not only highlights the properties in which DEA provides value, but also...

  3. Flow Separation Control on Airfoil With Pulsed Nanosecond Discharge Actuator

    NARCIS (Netherlands)

    Correale, G.; Popov, I.B.; Ratikin, A.E.; Starikovskii, A.Y.; Hulshoff, S.J.; Veldhuis, L.L.M.

    2011-01-01

    An experimental study of flow separation control with a nanosecond pulse plasma actuator was performed in wind-tunnel experiments. The discharge used had a pulse width of 12 ns and rising time of 3 ns with voltage up to 12 kV. Repetition frequency was adjustable up to 10 kHz. The first series of exp

  4. 4D Printing with Mechanically Robust, Thermally Actuating Hydrogels.

    Science.gov (United States)

    Bakarich, Shannon E; Gorkin, Robert; in het Panhuis, Marc; Spinks, Geoffrey M

    2015-06-01

    A smart valve is created by 4D printing of hydrogels that are both mechanically robust and thermally actuating. The printed hydrogels are made up of an interpenetrating network of alginate and poly(N-isopropylacrylamide). 4D structures are created by printing the "dynamic" hydrogel ink alongside other static materials.

  5. Designing light responsive bistable arches for rapid, remotely triggered actuation

    Science.gov (United States)

    Smith, Matthew L.; Shankar, M. Ravi; Backman, Ryan; Tondiglia, Vincent P.; Lee, Kyung Min; McConney, Michael E.; Wang, David H.; Tan, Loon-Seng; White, Timothy J.

    2014-03-01

    Light responsive azobenzene functionalized polymer networks enjoy several advantages as actuator candidates including the ability to be remotely triggered and the capacity for highly tunable control via light intensity, polarization, wavelength and material alignments. One signi cant challenge hindering these materials from being employed in applications is their often relatively slow actuation rates and low power densities, especially in the absence of photo-thermal e ects. One well known strategy employed in nature for increasing actuation rate and power output is the storage and quick release of elastic energy (e.g., the Venus ytrap). Using nature as inspiration we have conducted a series of experiments and developed an equilibrium mechanics model for investigating remotely triggered snap-through of bistable light responsive arches made from glassy azobenzene functionalized polymers. After brie y discussing experimental observations we consider in detail a geometrically exact, planar rod model of photomechanical snap-through. Theoretical energy release characteristics and unique strain eld pro les provide insight toward design strategies for improved actuator performance. The bistable light responsive arches presented here are potentially a powerful option for remotely triggered, rapid motion from apparently passive structures in applications such as binary optical switches and positioners, surfaces with morphing topologies, and impulse locomotion in micro or millimeter scale robotics.

  6. Compliant composite electrodes and large strain bistable actuation

    Science.gov (United States)

    Yun, Sungryul; Yu, Zhibin; Niu, Xiaofan; Hu, Weili; Li, Lu; Brochu, Paul; Pei, Qibing

    2012-04-01

    Dielectric elastomer actuators (DEA) and bistable electroactive polymers (BSEP) both require compliant electrodes with rubbery elasticity and high conductivity at large strains. Stretchable opto-electronic devices additionally require the compliant electrodes to be optically transparent. Many candidate materials have been investigated. We report a new approach to mechanically robust, stretchable compliant electrodes. A facile in-situ composite synthesis and transfer technique is employed, and the resulting composite electrodes retain the high surface conductivity of the original conductive network formed by nanowires or nanotubes, while exhibiting the mechanical flexibility of the matrix polymer. The composite electrodes have high transparency and low surface roughness useful for the fabrication of polymer thinfilm electronic devices. The new electrodes are suitable for high-strain actuation, as a complaint resistive heating element to administer the temperature of shape memory polymers, and as the charge injection electrodes for flexible/stretchable polymer light emitting diodes. Bistable electroactive polymers employing the composite electrodes can be actuated to large strains via heating-actuation-cooling cycles.

  7. A generic optimization algorithm for the allocation of DP actuators

    NARCIS (Netherlands)

    E.F.G. van Daalen; J.L. Cozijn; C. Loussouarn; P.W. Hemker

    2011-01-01

    In this paper we present a generic optimization algorithm for the allocation of dynamic positioning actuators, such as azimuthing thrusters and fixed thrusters. The algorithm is based on the well-known Lagrange multipliers method. In the present approach the Lagrangian functional represents not only

  8. Self-actuated Polymeric Valve for Autonomous Sensing and Mixing

    DEFF Research Database (Denmark)

    Häfliger, Daniel; Marie, Rodolphe Charly Willy; Boisen, Anja

    2005-01-01

    We present an autonomously operated microvalve array for chemical sensing and mixing, which gains the actuation energy from a chemical reaction on the valve structure. An 8-μm-thick flapper valve made in SU-8 is coated with stress-loaded Al on one side and Ti on the other side. The metal films ke...

  9. Bimorph based Active Joints for Nanometre scale Actuation

    NARCIS (Netherlands)

    Chakkalakkal Abdulla, S.M.; Krijnen, G.J.M.

    2007-01-01

    In this work the modelling of a micro bimorph cantilever which is composed of a Silicon Nitride cantilever beam coated on top with a thin Chromium layer is described. The structure functions as a vertical electrostatic actuator for nanometre displacements with stress induced upward curvature in the

  10. Protein-based microhydraulic transport for controllable actuation

    Science.gov (United States)

    Sundaresan, Vishnu Baba; Leo, Donald J.

    2006-03-01

    Plants have the ability to develop large mechanical force from chemical energy available with bio-fuels. The energy released by the cleavage of a terminal phosphate ion during the hydrolysis of a bio- fuel assists the transport of ions and fluids in cellular homeostasis. Materials that develop pressure and hence strain similar to the response of plants to an external stimuli are classified as nastic materials. Calculations for controlled actuation of an active material inspired by biological transport mechanism demonstrated the feasibility of developing such a material with actuation energy densities on the order of 100 kJ/m 3. The mathematical model for a simplified proof of concept actuator referred to as micro hydraulic actuator uses ion transporters extracted from plants reconstituted on a synthetic bilayer lipid membrane (BLM). Thermodynamic model of the concept actuator predicted the ability to develop 5 percent normalized deformation in thickness of the micro- hydraulic actuator. Controlled fluid transport through AtSUT4 (Proton-sucrose co-transporter from Arabidopsis thaliana) reconstituted on a 1-Palmitoyl-2-Oleoyl-sn-Glycero-3-[Phospho-L- Serine] (Sodium Salt) (POPS), 1-Palmitoyl-2-Oleoyl-sn-Glycero-3- Phosphoethanolamine (POPE) BLM on a porous lead silicate glass plate (50μm with 61μm pitch) was driven by proton gradient. Bulk fluid flux of 1.2 μl/min was observed for each microliter of AtSUT4 transporter suspension (16.6 mg/ml in pH7.0 medium) reconstituted on the BLM. The flux rate is observed to be dependent on the concentration of sucrose present in pH4 buffer. Flux rate of 10 μl/min is observed for 5 mM sucrose in the first 10 minutes. The observed flux scales linearly with BLM area and the amount of proteins reconstituted on the lipid membrane. This article details the next step in the development of the micro hydraulic actuator - fluid transport driven by exergonic Adenosine triphosphate (ATP) hydrolysis reaction in the presence of ATP

  11. Miniature Low-Mass Drill Actuated by Flextensional Piezo Stack

    Science.gov (United States)

    Sherrit, Stewart; Badescu, Mircea; Bar-Cohen, Yoseph

    2010-01-01

    Recent experiments with a flextensional piezoelectric actuator have led to the development of a sampler with a bit that is designed to produce and capture a full set of sample forms including volatiles, powdered cuttings, and core fragments. The flextensional piezoelectric actuator is a part of a series of devices used to amplify the generated strain from piezoelectric actuators. Other examples include stacks, bimorphs, benders, and cantilevers. These devices combine geometric and resonance amplifications to produce large stroke at high power density. The operation of this sampler/drill was demonstrated using a 3x2x1-cm actuator weighing 12 g using power of about 10-W and a preload of about 10 N. A limestone block was drilled to a depth of about 1 cm in five minutes to produce powdered cuttings. It is generally hard to collect volatiles from random surface profiles found in rocks and sediment, powdered cuttings, and core fragments. Toward the end of collecting volatiles, the actuator and the bit are covered with bellows-shaped shrouds to prevent fines and other debris from reaching the analyzer. A tube with a miniature bellows (to provide flexibility) is connected to the bit and directs the flow of the volatiles to the analyzer. Another modality was conceived where the hose is connected to the bellows wall directly to allow the capture of volatiles generated both inside and outside the bit. A wide variety of commercial bellows used in the vacuum and microwave industries can be used to design the volatiles capture mechanism. The piezoelectric drilling mechanism can potentially be operated in a broad temperature range from about-200 to less than 450 C. The actuators used here are similar to the actuators that are currently baselined to fly as part of the inlet funnel shaking mechanism design of MSL (Mars Science Laboratory). The space qualification of these parts gives this drill a higher potential for inclusion in a future mission, especially when considering its

  12. A model for ferromagnetic shape memory thin film actuators

    Science.gov (United States)

    Lee, Kwok-Lun; Seelecke, Stefan

    2005-05-01

    The last decade has witnessed the discovery of materials combining shape memory behavior with ferromagnetic properties (FSMAs), see James & Wuttig1, James et al.2, Ullakko et al.3. These materials feature the so-called giant magnetostrain effect, which, in contrast to conventional magnetostriction is due motion of martensite twins. This effect has motivated the development of a new class of active materials transducers, which combine intrinsic sensing capabilities with superior actuation speed and improved efficiency when compared to conventional shape memory alloys. Currently, thin film technology is being developed intensively in order to pave the way for applications in micro- and nanotechnology. As an example, Kohl et al., recently proposed a novel actuation mechanism based on NiMnGa thin film technology, which makes use of both the ferromagnetic transition and the martensitic transformation allowing the realization of an almost perfect antagonism in a single component part. The implementation of the mechanism led to the award-winning development of an optical microscanner. Possible applications in nanotechnology arise, e.g., by combination of smart NiMnGa actuators with scanning probe technologies. The key aspect of Kohl's device is the fact that it employs electric heating for actuation, which requires a thermo-magneto-mechanical model for analysis. The research presented in this paper aims at the development of a model that simulates this particular material behavior. It is based on ideas originally developed for conventional shape memory alloy behavior, (Mueller & Achenbach, Achenbach, Seelecke, Seelecke & Mueller) and couples it with a simple expression for the nonlinear temperature- and position-dependent effective magnetic force. This early and strongly simplified version does not account for a full coupling between SMA behavior and ferromagnetism yet, and does not incorporate the hysteretic character of the magnetization phenomena either. It can however

  13. Design, test and model of a hybrid magnetostrictive hydraulic actuator

    Science.gov (United States)

    Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M.

    2009-08-01

    The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm3 s-1 and 22.7 cm3 s-1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation.

  14. Electromagnetically actuated micromanipulator using an acoustically oscillating bubble

    International Nuclear Information System (INIS)

    A novel non-invasive micromanipulation technique has been developed where a microrobot swimming in an aqueous medium manipulates micro-objects, through electromagnetic actuation using an acoustically oscillating bubble attached to the microrobot as a grasping tool. This micromanipulation concept was experimentally verified; an investigation of electromagnetic actuation and acoustic excitation was also performed. Two-dimensional propulsion of a magnetic piece was demonstrated through electromagnetic actuation, using three pairs of electric coils surrounding the water chamber, and confirming that the propulsion speed of the magnetic piece was linearly proportional to the applied current intensity. Micro-object manipulation was separately demonstrated using an air bubble with glass beads (80 µm diameter) and a steel ball (800 µm diameter) in an aqueous medium. Upon acoustic excitation of the bubble by a piezo-actuator around its resonant frequency, the generated radiation force attracted and captured the neighboring glass beads and steel ball. The grasping force was indirectly measured by exposing the glass beads captured by the oscillating bubble to a stream generated by an auto-syringe pump in a mini-channel. By measuring the maximum speed of the streaming flow when the glass beads detached from the oscillating bubble and flowed downstream, the grasping force was calculated as 50 nN, based on Stokes' drag approximation. Finally, a fish egg was successfully manipulated with the integration of electromagnetic actuation and acoustic excitation, using a mini-robot consisting of a millimeter-sized magnetic piece with a bubble attached to its bottom. This novel micromanipulation may be an efficient tool for both micro device assembly and single-cell manipulation.

  15. Electromagnetically actuated micromanipulator using an acoustically oscillating bubble

    Science.gov (United States)

    Kwon, J. O.; Yang, J. S.; Lee, S. J.; Rhee, K.; Chung, S. K.

    2011-11-01

    A novel non-invasive micromanipulation technique has been developed where a microrobot swimming in an aqueous medium manipulates micro-objects, through electromagnetic actuation using an acoustically oscillating bubble attached to the microrobot as a grasping tool. This micromanipulation concept was experimentally verified; an investigation of electromagnetic actuation and acoustic excitation was also performed. Two-dimensional propulsion of a magnetic piece was demonstrated through electromagnetic actuation, using three pairs of electric coils surrounding the water chamber, and confirming that the propulsion speed of the magnetic piece was linearly proportional to the applied current intensity. Micro-object manipulation was separately demonstrated using an air bubble with glass beads (80 µm diameter) and a steel ball (800 µm diameter) in an aqueous medium. Upon acoustic excitation of the bubble by a piezo-actuator around its resonant frequency, the generated radiation force attracted and captured the neighboring glass beads and steel ball. The grasping force was indirectly measured by exposing the glass beads captured by the oscillating bubble to a stream generated by an auto-syringe pump in a mini-channel. By measuring the maximum speed of the streaming flow when the glass beads detached from the oscillating bubble and flowed downstream, the grasping force was calculated as 50 nN, based on Stokes' drag approximation. Finally, a fish egg was successfully manipulated with the integration of electromagnetic actuation and acoustic excitation, using a mini-robot consisting of a millimeter-sized magnetic piece with a bubble attached to its bottom. This novel micromanipulation may be an efficient tool for both micro device assembly and single-cell manipulation.

  16. Dielectric Barrier Discharge Plasma Actuator for Flow Control

    Science.gov (United States)

    Opaits, Dmitry, F.

    2012-01-01

    This report is Part II of the final report of NASA Cooperative Agreement contract no. NNX07AC02A. It includes a Ph.D. dissertation. The period of performance was January 1, 2007 to December 31, 2010. Part I of the final report is the overview published as NASA/CR-2012- 217654. Asymmetric dielectric barrier discharge (DBD) plasma actuators driven by nanosecond pulses superimposed on dc bias voltage are studied experimentally. This produces non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. The approach consisted of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low voltages. In view of practical applications certain questions have been also addressed, such as electrodynamic effects which accompany scaling of the actuators to real size models, and environmental effects of ozone production by the plasma actuators.

  17. Tractor controls actuating force limits for Indian operators.

    Science.gov (United States)

    Mehta, C R; Pandey, M M; Tiwari, P S; Gite, L P; Khadatkar, Abhijit

    2011-01-01

    In four-wheel tractors, proper design of controls is important for comfortable and safe operation of the tractor. The design involves location and dimensions of controls as well as strength limits for operating these controls. The present study was aimed to quantify human strength for operation of tractor controls and to recommend the maximum control actuating forces for normal operation of tractors based on strength capability of 3,423 Indian male agricultural workers. The 5th percentile values of strength parameters i.e. leg strength sitting (left and right), foot strength sitting (right), torque strength (both hands) sitting, push strength (left hand and right hand) sitting and pull strength (left hand and right hand) sitting of agricultural workers collected using a strength measurement set-up were taken into consideration for the study. It was recommended that the maximum actuating forces for normal operation of frequently operated brake and clutch pedals of tractors should not exceed 260 N and 125 N based on 5th percentile values of right and left leg strength of male agricultural workers, respectively. The maximum actuating force required in steering wheel operation should not exceed 51 N based on 5th percentile value of torque strength (both hands) sitting of workers. The maximum actuating forces required for operating frequently operated levers viz. gear selection, speed selection, hydraulic control and hand throttle of Indian tractors should not exceed 46 N, 46 N, 25 N and 25 N, respectively. It may be concluded that the maximum actuating force limits as given in Bureau of Indian Standards IS 10703 are very high as compared to the findings of the study based on strength data of Indian male operators, which highlight the need to revise the standard. PMID:21697615

  18. Gait Planning for a Quadruped Robot with One Faulty Actuator

    Institute of Scientific and Technical Information of China (English)

    CHEN Xianbao; GAO Feng; QI Chenkun; TIAN Xinghua

    2015-01-01

    Fault tolerance is essential for quadruped robots when they work in remote areas or hazardous environments. Many fault-tolerant gaits planning method proposed in the past decade constrained more degrees of freedom(DOFs) of a robot than necessary. Thus a novel method to realize the fault-tolerant walking is proposed. The mobility of the robot is analyzed first by using the screw theory. The result shows that the translation of the center of body(CoB) can be kept with one faulty actuator if the rotations of the body are controlled. Thus the DOFs of the robot body are divided into two parts:the translation of the CoB and the rotation of the body. The kinematic model of the whole robot is built, the algorithm is developed to actively control the body orientations at the velocity level so that the planned CoB trajectory can be realized in spite of the constraint of the faulty actuator. This gait has a similar generation sequence with the normal gait and can be applied to the robot at any position. Simulations and experiments of the fault-tolerant gait with one faulty actuator are carried out. The CoB errors and the body rotation angles are measured. Comparing to the traditional fault-tolerant gait they can be reduced by at least 50%. A fault-tolerant gait planning algorithm is presented, which not only realizes the walking of a quadruped robot with a faulty actuator, but also efficiently improves the walking performances by taking full advantage of the remaining operational actuators according to the results of the simulations and experiments.

  19. Aerodynamic force generation of an insect-inspired flapper actuated by a compressed unimorph actuator

    Institute of Scientific and Technical Information of China (English)

    NGUYEN Quoc-Viet; PARK Hoon C; GOO Nam S; BYUN Doyoung

    2009-01-01

    We examined experimentally the flapping performance in terms of aerodynamic force generation of an insect-inspired flapper actuated by both of original LIPCA and compressed LIPCA.Flapping tests for two artificial wing shapes of horse botfly and hawk moth were conducted at the wing rotation angle of 60° end a flapping frequency range from 6 Hz to 12 Hz to find the optimum flapping frequency and to investigate the effect of compressed LIPCA and wing shape on the force generation.Flapping tests in the vacuum were also undertaken to measure the induced inertia force.The aerodynamic force was calculated by subtracting the inertia force from the total force measured in the air.It was found that the average inertia force was relatively small when compared with the average total force.The use of the compressed LIPCA could significantly improve the flapping angle of the flapper from 110° to 130° (18.2% increase) resulting in 24.5% increase in the average aerodynamic force.It was also found that flapper with hawk moth wings could produce larger force than the flapper with horse botfly wings.

  20. Electrostatically actuated mechanooptical waveguide ON-OFF switch showing high extinction at a low actuation-voltage

    NARCIS (Netherlands)

    Veldhuis, G.J.; Nauta, T.; Gui, C.; Berenschot, J.W.; Lambeck, P.V.

    1999-01-01

    This paper reports on an integrated mechanooptical waveguide ON-OFF switch, where an absorbing element is moved into and out of the evanescent field of the guided mode in order to achieve switching. For the electrostatically driven devices, an extinction ratio of 65 dB at an actuation voltage of 2.5