Another lesson from plants: the forward osmosis-based actuator.

Science.gov (United States)

Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara

2014-01-01

Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.

Another lesson from plants: the forward osmosis-based actuator.

Directory of Open Access Journals (Sweden)

Edoardo Sinibaldi

Full Text Available Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW. Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.

Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

Science.gov (United States)

Lu, Jun; Kim, Sang-Gyun; Lee, Sunwoo; Oh, Il-Kwon

2008-08-01

In this study, an ionic networking membrane (INM) of poly(styrene-alt-maleimide) (PSMI)-incorporated poly(vinylidene fluoride) (PVDF) was applied to fabricate electro-active polymer. Based on the same original membrane of PSMI-incorporated PVDF, various samples of INM actuator were prepared for different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performances were compared to those of the widely used traditional Nafion actuator. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic responses were observed for the newly developed INM actuators, they were found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after the optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage. The PSMI-incorporated PVDF actuator can become a promising smart material to be used in the fields of biomimetic robots, biomedical devices, sensors and actuator, haptic interfaces, energy harvesting and so on.

Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

International Nuclear Information System (INIS)

Lu, Jun; Oh, Il-Kwon; Kim, Sang-Gyun; Lee, Sunwoo

2008-01-01

In this study, an ionic networking membrane (INM) of poly(styrene-alt-maleimide) (PSMI)-incorporated poly(vinylidene fluoride) (PVDF) was applied to fabricate electro-active polymer. Based on the same original membrane of PSMI-incorporated PVDF, various samples of INM actuator were prepared for different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performances were compared to those of the widely used traditional Nafion actuator. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic responses were observed for the newly developed INM actuators, they were found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after the optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage. The PSMI-incorporated PVDF actuator can become a promising smart material to be used in the fields of biomimetic robots, biomedical devices, sensors and actuator, haptic interfaces, energy harvesting and so on

Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm

DEFF Research Database (Denmark)

Rethore, Pierre-Elouan; Sørensen, Niels

2008-01-01

An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known.......An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known....

Simple and Accurate Analytical Solutions of the Electrostatically Actuated Curled Beam Problem

KAUST Repository

Younis, Mohammad I.

2014-08-17

We present analytical solutions of the electrostatically actuated initially deformed cantilever beam problem. We use a continuous Euler-Bernoulli beam model combined with a single-mode Galerkin approximation. We derive simple analytical expressions for two commonly observed deformed beams configurations: the curled and tilted configurations. The derived analytical formulas are validated by comparing their results to experimental data in the literature and numerical results of a multi-mode reduced order model. The derived expressions do not involve any complicated integrals or complex terms and can be conveniently used by designers for quick, yet accurate, estimations. The formulas are found to yield accurate results for most commonly encountered microbeams of initial tip deflections of few microns. For largely deformed beams, we found that these formulas yield less accurate results due to the limitations of the single-mode approximations they are based on. In such cases, multi-mode reduced order models need to be utilized.

Fabrication of wrist-like SMA-based actuator by double smart soft composite casting

Science.gov (United States)

Rodrigue, Hugo; Wei, Wang; Bhandari, Binayak; Ahn, Sung-Hoon

2015-12-01

A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an actuator with non-linear shape memory alloy (SMA) wire positioning is proposed. This method is used to manufacture a tube-shaped SSC actuator in which the SMA wires follow the curvature of the tube and is capable of pure-twisting deformations while sustaining a cantilever load. The concept is tested by measuring the maximum twisting angle and a simple control method is proposed to control the twisting angle of the actuator. Then, a soft robotic wrist with a length of 18 cm is built, its load-carrying capability is tested by measuring the cantilever force required for deforming the actuator, and its load-carrying capability during actuation is tested by loading one end with different objects and actuating the actuator. This wrist actuator shows good repeatability, is capable of twisting deformations up to 25° while holding objects weighing 100 g, and can sustain loads above 2 N without undergoing buckling.

Fabrication of wrist-like SMA-based actuator by double smart soft composite casting

International Nuclear Information System (INIS)

Rodrigue, Hugo; Wei, Wang; Bhandari, Binayak; Ahn, Sung-Hoon

2015-01-01

A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an actuator with non-linear shape memory alloy (SMA) wire positioning is proposed. This method is used to manufacture a tube-shaped SSC actuator in which the SMA wires follow the curvature of the tube and is capable of pure-twisting deformations while sustaining a cantilever load. The concept is tested by measuring the maximum twisting angle and a simple control method is proposed to control the twisting angle of the actuator. Then, a soft robotic wrist with a length of 18 cm is built, its load-carrying capability is tested by measuring the cantilever force required for deforming the actuator, and its load-carrying capability during actuation is tested by loading one end with different objects and actuating the actuator. This wrist actuator shows good repeatability, is capable of twisting deformations up to 25° while holding objects weighing 100 g, and can sustain loads above 2 N without undergoing buckling. (paper)

Nanostructured carbon materials based electrothermal air pump actuators

Science.gov (United States)

Liu, Qing; Liu, Luqi; Kuang, Jun; Dai, Zhaohe; Han, Jinhua; Zhang, Zhong

2014-05-01

Actuator materials can directly convert different types of energy into mechanical energy. In this work, we designed and fabricated electrothermal air pump-type actuators by utilization of various nanostructured carbon materials, including single wall carbon nanotubes (SWCNTs), reduced graphene oxide (r-GO), and graphene oxide (GO)/SWCNT hybrid films as heating elements to transfer electrical stimulus into thermal energy, and finally convert it into mechanical energy. Both the actuation displacement and working temperature of the actuator films show the monotonically increasing trend with increasing driving voltage within the actuation process. Compared with common polymer nanocomposites based electrothermal actuators, our actuators exhibited better actuation performances with a low driving voltage (film actuator due to the intrinsic gas-impermeability nature of graphene platelets. In addition, the high modulus of the r-GO and GO/SWCNT films also guaranteed the large generated stress and high work density. Specifically, the generated stress and gravimetric work density of the GO/SWCNT hybrid film actuator could reach up to more than 50 MPa and 30 J kg-1, respectively, under a driving voltage of 10 V. The resulting stress value is at least two orders of magnitude higher than that of natural muscles (~0.4 MPa).Actuator materials can directly convert different types of energy into mechanical energy. In this work, we designed and fabricated electrothermal air pump-type actuators by utilization of various nanostructured carbon materials, including single wall carbon nanotubes (SWCNTs), reduced graphene oxide (r-GO), and graphene oxide (GO)/SWCNT hybrid films as heating elements to transfer electrical stimulus into thermal energy, and finally convert it into mechanical energy. Both the actuation displacement and working temperature of the actuator films show the monotonically increasing trend with increasing driving voltage within the actuation process. Compared with

Solid electroytes for CNT-based actuators

Science.gov (United States)

Riemenschneider, Johannes; Geier, Sebastian; Mahrholz, Thorsten; Mosch, Jürgen; Monner, Hans Peter; Sinapius, Michael

2009-03-01

Actuators based on carbon nanotubes (CNT) have the potential to generate high forces at very low voltages. The density of the raw material is just 1330 kg/m3, which makes them well applicable for lightweight applications. Moreover, active strains of up to 1% can be achieved - due to the CNTs dimensional changes on charge injection. Therefore the nanotubes have to be arranged and electrically wired like electrodes of a capacitor. In previous works the system's response of the Nanotubes comprising a liquid electrolyte was studied in detail. The major challenge is to repeat such experiments with solid electrolytes, which is a prerequisite for structural integration. In this paper a method is proposed which makes sure the expansion is not based on thermal expansion. This is done by analysing the electrical system response. As thermal expansion is dominated by ohmic resistance the CNT based actuators show a strong capacitive behavior. This behavior is referable to the constitution of the electrochemical double layer around the nanotubes, which causes the tubes to expand. Also a novel test setup is described, which guarantees that the displacement which is measured will not be caused by bending of a bimorph but due to expansion of a single layer of nanotubes. This paper also presents experimental results demonstrating both, the method of electrical characterization of CNT based actuators with implemented solid electrolytes and the novel test setup which is used to measure the needed data. The actuators which were characterized are hybrids of CNT and the solid electrolyte NAFION which is supplying the ions needed to constitute the electrochemical double layer. The manufacturing, processing of these actuators and also some first experimental results are shown. Unfortunately, the results are not as clear as those for liquid electrolytes, which depend on the hybrid character of the analyzed devices. In the liquid electrolyte based case the CNTs are the only source of

Development of a metal-based composite actuator

Science.gov (United States)

Asanuma, Hiroshi; Haga, Osamu; Ishii, Toshio; Kurihara, Haruki; Ohira, Junichiro; Hakoda, Genji

2000-06-01

This paper describes a basic concept and elemental developments to realize a metal based composite actuator to be used for smart structures. In this study, CFRP prepreg was laminated on aluminum plate to develop an actuator and this laminate could perform unidirectional actuation. SiC continuous fiber/Al composite thin plate could also be used for form a modified type of actuator instead of using CFRP. As sensors to be embedded in this actuator, the following ones wee developed. (1) A pre-notched optical fiber filament could be embedded in aluminum matrix without fracture by the interphase forming/bonding method with copper insert and could be fractured in it at the notch, which enabled forming of an optical interference type strain sensor. (2) Nickel wire could be uniformly oxidized and embedded in aluminum matrix without fracture, which could successfully work as a temperature sensor and a strain sensor.

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Directory of Open Access Journals (Sweden)

Dorin Copaci

2017-01-01

Full Text Available The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement and the proximal radioulnar articulation (for pronation-supination movement. During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Science.gov (United States)

Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis. PMID:29104424

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators.

Science.gov (United States)

Copaci, Dorin; Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

Design of a Telescopic Linear Actuator Based on Hollow Shape Memory Springs

Science.gov (United States)

Spaggiari, Andrea; Spinella, Igor; Dragoni, Eugenio

2011-07-01

Shape memory alloys (SMAs) are smart materials exploited in many applications to build actuators with high power to mass ratio. Typical SMA drawbacks are: wires show poor stroke and excessive length, helical springs have limited mechanical bandwidth and high power consumption. This study is focused on the design of a large-scale linear SMA actuator conceived to maximize the stroke while limiting the overall size and the electric consumption. This result is achieved by adopting for the actuator a telescopic multi-stage architecture and using SMA helical springs with hollow cross section to power the stages. The hollow geometry leads to reduced axial size and mass of the actuator and to enhanced working frequency while the telescopic design confers to the actuator an indexable motion, with a number of different displacements being achieved through simple on-off control strategies. An analytical thermo-electro-mechanical model is developed to optimize the device. Output stroke and force are maximized while total size and power consumption are simultaneously minimized. Finally, the optimized actuator, showing good performance from all these points of view, is designed in detail.

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

Science.gov (United States)

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

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 changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator.

An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

Directory of Open Access Journals (Sweden)

Guojun Liu

2016-01-01

Full Text Available 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 changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator.

Magnetic Shape Memory Alloy Actuator for Instrument Applications

Data.gov (United States)

National Aeronautics and Space Administration — This project will develop a simple actuator based on magnetic shape memory alloy (MSMA), a novel new family of crystalline materials which exhibit strain deformation...

Fast-Response Electrostatic Actuator Based on Nano-Gap

Directory of Open Access Journals (Sweden)

Edward Kostsov

2017-03-01

Full Text Available The possibility of constructing new high-performance electrostatic fast actuators based on energy transformation in nanometer gaps is considered. The construction and the properties of the operation of such devices as well as their typical parameters are described. The drives are based on ferroelectrics with high values of dielectric permittivity (above 1000. They can be constructed using microelectronic technology. It is demonstrated that the actuators are capable of maintaining forces with a specific density up to 106 N/m2 and up to 100–1000 N in real devices for 10–100 µs. Experimental research results of such actuators are presented.

Electromechanical actuator with controllable motion, fast response rate, and high-frequency resonance based on graphene and polydiacetylene.

Science.gov (United States)

Liang, Jiajie; Huang, Lu; Li, Na; Huang, Yi; Wu, Yingpeng; Fang, Shaoli; Oh, Jiyoung; Kozlov, Mikhail; Ma, Yanfeng; Li, Feifei; Baughman, Ray; Chen, Yongsheng

2012-05-22

Although widely investigated, novel electromechanical actuators with high overall actuation performance are still in urgent need for various practical and scientific applications, such as robots, prosthetic devices, sensor switches, and sonar projectors. In this work, combining the properties of unique environmental perturbations-actuated deformational isomerization of polydiacetylene (PDA) and the outstanding intrinsic features of graphene together for the first time, we design and fabricate an electromechanical bimorph actuator composed of a layer of PDA crystal and a layer of flexible graphene paper through a simple yet versatile solution approach. Under low applied direct current (dc), the graphene-PDA bimorph actuator with strong mechanical strength can generate large actuation motion (curvature is about 0.37 cm(-1) under a current density of 0.74 A/mm(2)) and produce high actuation stress (more than 160 MPa/g under an applied dc of only 0.29 A/mm(2)). When applying alternating current (ac), this actuator can display reversible swing behavior with long cycle life under high frequencies even up to 200 Hz; significantly, while the frequency and the value of applied ac and the state of the actuators reach an appropriate value, the graphene-PDA actuator can produce a strong resonance and the swing amplitude will jump to a peak value. Moreover, this stable graphene-PDA actuator also demonstrates rapidly and partially reversible electrochromatic phenomenon when applying an ac. Two mechanisms-the dominant one, electric-induced deformation, and a secondary one, thermal-induced expansion of PDA-are proposed to contribute to these interesting actuation performances of the graphene-PDA actuators. On the basis of these results, a mini-robot with controllable direction of motion based on the graphene-PDA actuator is designed to illustrate the great potential of our discoveries for practical use. Combining the unique actuation mechanism and many outstanding properties of

Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Soltani Bozchalooi, I., E-mail: isoltani@mit.edu; Youcef-Toumi, K.

2014-11-15

High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube.

Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

International Nuclear Information System (INIS)

Soltani Bozchalooi, I.; Youcef-Toumi, K.

2014-01-01

High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube

Tough nanocomposite ionogel-based actuator exhibits robust performance.

Science.gov (United States)

Liu, Xinhua; He, Bin; Wang, Zhipeng; Tang, Haifeng; Su, Teng; Wang, Qigang

2014-10-20

Ionogel electrolytes can be fabricated for electrochemical actuators with many desirable advantages, including direct low-voltage control in air, high electrochemical and thermal stability, and complete silence during actuation. However, the demands for active actuators with above features and load-driving ability remain a challenge; much work is necessary to enhance the mechanical strength of electrolyte materials. Herein, we describe a cross-linked supramolecular approach to prepare tough nanocomposite gel electrolytes from HEMA, BMIMBF4, and TiO2 via self-initiated UV polymerization. The tough and stable ionogels are emerging to fabricate electric double-layer capacitor-like soft actuators, which can be driven by electrically induced ion migration. The ionogel-based actuator shows a displacement response of 5.6 mm to the driving voltage of 3.5 V. After adding the additional mass weight of the same as the actuator, it still shows a large displacement response of 3.9 mm. Furthermore, the actuator can not only work in harsh temperature environments (100°C and -10°C) but also realize the goal of grabbing an object by adjusting the applied voltage.

Design and modeling of a hydraulically amplified magnetostrictive actuator for automotive engine mounts

Science.gov (United States)

Chakrabarti, Suryarghya; Dapino, Marcelo J.

2009-03-01

A bidirectional magnetostrictive actuator with millimeter stroke and a blocked force of few tens of Newtons has been developed based on a Terfenol-D driver and a simple hydraulic magnification stage. The actuator is compared with an electrodynamic actuator used in active powertrain mounts in terms of electrical power consumption, frequency bandwidth, and spectral content of the response. The measurements show that the actuator has a flat free-displacement and blocked-force response up to 200 Hz, suggesting a significantly broader frequency bandwidth than commercial electromagnetic actuators while drawing comparable amounts of power.

Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators

Science.gov (United States)

Martinez, Ramses V.; Whitesides, George M.

2017-10-25

Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

More Insight of Piezoelectric-based Synthetic Jet Actuators

Science.gov (United States)

Housley, Kevin; Amitay, Michael

2016-11-01

Increased understanding of the internal flow of piezoelectric-based synthetic jet actuators is needed for the development of specialized actuator cavity geometries to increase jet momentum coefficients and tailor acoustic resonant frequencies. Synthetic jet actuators can benefit from tuning of the structural resonant frequency of the piezoelectric diaphragm(s) and the acoustic resonant frequency of the actuator cavity such that they experience constructive coupling. The resulting coupled behavior produces increased jet velocities. The ability to design synthetic jet actuators to operate with this behavior at select driving frequencies allows for them to be better used in flow control applications, which sometimes require specific jet frequencies in order to utilize the natural instabilities of a given flow field. A parametric study of varying actuator diameters was conducted to this end. Phase-locked data were collected on the jet velocity, the cavity pressure at various locations, and the three-dimensional deformation of the surface of the diaphragm. These results were compared to previous analytical work on the interaction between the structural resonance of the diaphragm and the acoustic resonance of the cavity. Funded by the Boeing Company.

Graphitic carbon nitride nanosheet electrode-based high-performance ionic actuator

Science.gov (United States)

Wu, Guan; Hu, Ying; Liu, Yang; Zhao, Jingjing; Chen, Xueli; Whoehling, Vincent; Plesse, Cédric; Nguyen, Giao T. M.; Vidal, Frédéric; Chen, Wei

2015-01-01

Ionic actuators have attracted attention due to their remarkably large strain under low-voltage stimulation. Because actuation performance is mainly dominated by the electrochemical and electromechanical processes of the electrode layer, the electrode material and structure are crucial. Here, we report a graphitic carbon nitride nanosheet electrode-based ionic actuator that displays high electrochemical activity and electromechanical conversion abilities, including large specific capacitance (259.4 F g−1) with ionic liquid as the electrolyte, fast actuation response (0.5±0.03% in 300 ms), large electromechanical strain (0.93±0.03%) and high actuation stability (100,000 cycles) under 3 V. The key to the high performance lies in the hierarchical pore structure with dominant size actuation performance. PMID:26028354

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

NARCIS (Netherlands)

Olthuis, Wouter; Bomer, Johan G.; Bergveld, Piet; van der Linden, W.E.; Bos, M.; 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

a New ER Fluid Based Haptic Actuator System for Virtual Reality

Science.gov (United States)

Böse, H.; Baumann, M.; Monkman, G. J.; Egersdörfer, S.; Tunayar, A.; Freimuth, H.; Ermert, H.; Khaled, W.

The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location.

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.

Design of Rotating Moving-Magnet-Type VCM Actuator for Miniaturized Mobile Robot

Energy Technology Data Exchange (ETDEWEB)

Shin, Bu Hyun [Hanbat Nat' l Univ., Daejeon (Korea, Republic of); Lee, Seungyop [Sogana Univ., Seoul (Korea, Republic of); Lee, Kyungmin [Korean Intellectual Property Office, Seoul (Korea, Republic of); Oh, Dongho [Chungnam Nat' l Univ., Daejeon (Korea, Republic of)

2013-12-15

A voice coil actuator with a rotating moving magnet has been developed for a miniaturized mobile robot. The actuator has simple structure comprising a magnet, a coil, and a yoke. Actuator performance is predicted using a linearized theoretical model, and dynamic performance based on the air-gap between the magnet and the coil is predicted using motor constant and restoring constant obtained through finite element simulations. The theoretical model was verified using a prototype with 60 Hz resonance and 80 Hz bandwidth. We found that an input of 1.5 V can make the actuator rotate by 20 .deg. statically. The driving configuration of the proposed actuator can be simplified because of its implementation of open-loop control.

A multi-purpose electromagnetic actuator for magnetic resonance elastography.

Science.gov (United States)

Feng, Yuan; Zhu, Mo; Qiu, Suhao; Shen, Ping; Ma, Shengyuan; Zhao, Xuefeng; Hu, Chun-Hong; Guo, Liang

2018-04-19

An electromagnetic actuator was designed for magnetic resonance elastography (MRE). The actuator is unique in that it is simple, portable, and capable of brain, abdomen, and phantom imagings. A custom-built control unit was used for controlling the vibration frequency and synchronizing the trigger signals. An actuation unit was built and mounted on the specifically designed clamp and holders for different imaging applications. MRE experiments with respect to gel phantoms, brain, and liver showed that the actuator could produce stable and consistent mechanical waves. Estimated shear modulus using local frequency estimate method demonstrated that the measurement results were in line with that from MRE studies using different actuation systems. The relatively easy setup procedure and simple design indicated that the actuator system had the potential to be applied in many different clinical studies. Copyright © 2018 Elsevier Inc. All rights reserved.

Metallic molybdenum disulfide nanosheet-based electrochemical actuators

Science.gov (United States)

Acerce, Muharrem; Akdoğan, E. Koray; Chhowalla, Manish

2017-09-01

Actuators that convert electrical energy to mechanical energy are useful in a wide variety of electromechanical systems and in robotics, with applications such as steerable catheters, adaptive wings for aircraft and drag-reducing wind turbines. Actuation systems can be based on various stimuli, such as heat, solvent adsorption/desorption, or electrochemical action (in systems such as carbon nanotube electrodes, graphite electrodes, polymer electrodes and metals). Here we demonstrate that the dynamic expansion and contraction of electrode films formed by restacking chemically exfoliated nanosheets of two-dimensional metallic molybdenum disulfide (MoS2) on thin plastic substrates can generate substantial mechanical forces. These films are capable of lifting masses that are more than 150 times that of the electrode over several millimetres and for hundreds of cycles. Specifically, the MoS2 films are able to generate mechanical stresses of about 17 megapascals—higher than mammalian muscle (about 0.3 megapascals) and comparable to ceramic piezoelectric actuators (about 40 megapascals)—and strains of about 0.6 per cent, operating at frequencies up to 1 hertz. The actuation performance is attributed to the high electrical conductivity of the metallic 1T phase of MoS2 nanosheets, the elastic modulus of restacked MoS2 layers (2 to 4 gigapascals) and fast proton diffusion between the nanosheets. These results could lead to new electrochemical actuators for high-strain and high-frequency applications.

Actuators, transducers and motors based on giant magnetostrictive materials

Energy Technology Data Exchange (ETDEWEB)

Claeyssen, F.; Lhermet, N.; Le Letty, R. [Cedrat Recherche, Meylan (France); Bouchilloux, P. [Magsoft Corporation, 1223 People`s Avenue, New York 12180 (United States)

1997-08-01

Rare earth-iron magnetostrictive alloys, especially Terfenol-D, feature ``giant`` magnetostrains: static strains of 1000-2000 ppm and dynamic strains of 3500 ppm are reported. These strains permit building various actuating devices (actuators, transducers, motors) both at macro and micro scale. The object of the paper is to recall adapted design methods, especially finite element methods such as ATILA, and to review these different kinds of devices studied at Cedrat Recherche, providing both up-dated experimental and numerical results. The presented devices will include several large displacement longitudinal and shear actuators biased using permanent magnets and used either as characterisation devices or as electromechanical actuators (for active damping, for sonar transducers..), a 1 kHz 4 kW Tonpilz-type sonar transducer called the tripode, a 2 N m torque rotating multi-mode motor, a torsion based drift free micro actuator and a wireless linear micromotor. (orig.)

Aircraft Attitude Distributed Fault-tolerant Control Based on Dynamic Actuator

Directory of Open Access Journals (Sweden)

Zhou Hong-Cheng

2014-09-01

Full Text Available For attitude control system, based on decentralized fault-tolerant control framework, actuators damage and stuck fault detection and identification unit are designed for the flight control system. And observer-based auxiliary system unit is also designed. The auxiliary system implies control surface damage faults and disturbances information. Firstly, we give the attitude control system under actuator stuck, lose of effectiveness, and control surface damages faults. Secondly, a multi-observer is designed for actuator fault detection and identification using a decision-making mechanism to determine current actuator failure modes. Then, an adaptive sliding mode observer is designed for implicit control surface damages and interference information. The reconfigurable controller can achieve fault tolerant using the information of adaptive sliding mode observer. Finally, the simulation results show the effectiveness of the proposed method.

Plasma actuators for active flow control based on a glow discharge

International Nuclear Information System (INIS)

Kühn, M.; Kühn-Kauffeldt, M.; Schein, J.; Belinger, A.

2017-01-01

In this work a glow discharge based active flow control for high flow velocities and low Reynolds numbers is presented. Unlike common plasma actuators such as dielectric barrier discharge (DBD) or spark jets, this actuator uses small impulse bits at frequencies. The actuator is optimized for frequencies up to 40 kHz to counter Tollmien Schlichting wave effects and so reduce overall air foil drag. Several measurements to prove the non-eroding effect of the actuator and the electrical properties were performed. It was found that the actuator is capable of operating at high frequencies without measurable erosion. (paper)

Design-based modeling of magnetically actuated soft diaphragm materials

Science.gov (United States)

Jayaneththi, V. R.; Aw, K. C.; McDaid, A. J.

2018-04-01

Magnetic polymer composites (MPC) have shown promise for emerging biomedical applications such as lab-on-a-chip and implantable drug delivery. These soft material actuators are capable of fast response, large deformation and wireless actuation. Existing MPC modeling approaches are computationally expensive and unsuitable for rapid design prototyping and real-time control applications. This paper proposes a macro-scale 1-DOF model capable of predicting force and displacement of an MPC diaphragm actuator. Model validation confirmed both blocked force and displacement can be accurately predicted in a variety of working conditions i.e. different magnetic field strengths, static/dynamic fields, and gap distances. The contribution of this work includes a comprehensive experimental investigation of a macro-scale diaphragm actuator; the derivation and validation of a new phenomenological model to describe MPC actuation; and insights into the proposed model’s design-based functionality i.e. scalability and generalizability in terms of magnetic filler concentration and diaphragm diameter. Due to the lumped element modeling approach, the proposed model can also be adapted to alternative actuator configurations, and thus presents a useful tool for design, control and simulation of novel MPC applications.

Development of electrothermal actuation based planar variable optical attenuators (VOAs)

International Nuclear Information System (INIS)

Lee, Chengkuo; Yeh, J Andrew

2006-01-01

Several sorts of MEMS (Microelectromechanical Systems) based have been demonstrated by using electrostatic actuation scheme up to date. The comb drive and parallel plate are the two most common electrostatic actuators that have been well studied in variable optical attenuator (VOA) applications. In addition to the known retro-reflection type of optical attenuation being realized by our new devices driven by electrothermal actuators in present study, a novel planar tilted mirror with rotational and translation moving capability is proposed by using electrothermal actuators as well. Using electrothermal actuators to provide said planar tilted mirror with rotational and translational displacement has granted us a more efficient way to perform the light attenuation for in-plane structure. The static and transient characteristics of devices operated at ambient room temperature environment show good repeatability and stability

Performance evaluation of an improved fish robot actuated by piezoceramic actuators

International Nuclear Information System (INIS)

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

2010-01-01

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

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.

Theoretical and experimental study on active sound transmission control based on single structural mode actuation using point force actuators.

Science.gov (United States)

Sanada, Akira; Tanaka, Nobuo

2012-08-01

This study deals with the feedforward active control of sound transmission through a simply supported rectangular panel using vibration actuators. The control effect largely depends on the excitation method, including the number and locations of actuators. In order to obtain a large control effect at low frequencies over a wide frequency, an active transmission control method based on single structural mode actuation is proposed. Then, with the goal of examining the feasibility of the proposed method, the (1, 3) mode is selected as the target mode and a modal actuation method in combination with six point force actuators is considered. Assuming that a single input single output feedforward control is used, sound transmission in the case minimizing the transmitted sound power is calculated for some actuation methods. Simulation results showed that the (1, 3) modal actuation is globally effective at reducing the sound transmission by more than 10 dB in the low-frequency range for both normal and oblique incidences. Finally, experimental results also showed that a large reduction could be achieved in the low-frequency range, which proves the validity and feasibility of the proposed method.

An earthworm-like actuator using segmented solenoids

International Nuclear Information System (INIS)

Shin, Bu Hyun; Choi, Seung-Wook; Lee, Seung-Yop; Bang, Young-Bong

2011-01-01

A biomimetic actuator is developed using four segmented solenoids mimicking earthworm locomotion. The proposed actuator not only has a simple structure composed of cores and coils, but also enables bi-directional actuation and high speed locomotion regardless of friction conditions. We have implemented theoretical analysis to design the optimal profiles of input current signal for maximum speed and predict the output force and stroke. Experiments using a prototype show that the earthworm-like actuator travels with a speed above 60 mm s −1 regardless of friction conditions

A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

Science.gov (United States)

Plante, Jean-Sébastien; Devita, Lauren M.; Dubowsky, Steven

2007-04-01

Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

Recent developments on SMA actuators: predicting the actuation fatigue life for variable loading schemes

Science.gov (United States)

Wheeler, Robert W.; Lagoudas, Dimitris C.

2017-04-01

Shape memory alloys (SMAs), due to their ability to repeatably recover substantial deformations under applied mechanical loading, have the potential to impact the aerospace, automotive, biomedical, and energy industries as weight and volume saving replacements for conventional actuators. While numerous applications of SMA actuators have been flight tested and can be found in industrial applications, these actuators are generally limited to non-critical components, are not widely implemented and frequently one-off designs, and are generally overdesigned due to a lack of understanding of the effect of the loading path on the fatigue life and the lack of an accurate method for predicting actuator lifetimes. In recent years, multiple research efforts have increased our understanding of the actuation fatigue process of SMAs. These advances can be utilized to predict the fatigue lives and failure loads in SMA actuators. Additionally, these prediction methods can be implemented in order to intelligently design actuators in accordance with their fatigue and failure limits. In the following paper, both simple and complex thermomechanical loading paths have been considered. Experimental data was utilized from two material systems: equiatomic Nickel-Titanium and Nickelrich Nickel-Titanium.

Dynamic properties of a metal photo-thermal micro-actuator.

Science.gov (United States)

Shi, B; Zhang, H J; Wang, B; Yi, F T; Jiang, J Z; Zhang, D X

2015-02-20

This work presents the design, modeling, simulation, and characterization of a metal bent-beam photo-thermal micro-actuator. The mechanism of actuation is based on the thermal expansion of the micro-actuator which is irradiated by a laser, achieving noncontact control of the power supply. Models for micro-actuators were established and finite-element simulations were carried out to investigate the effects of various parameters on actuation properties. It is found that the thermal expansion coefficient, thermal conductivity, and the geometry size largely affected actuation behavior whereas heat capacity, density, and Young's modulus did not. Experiments demonstrated the dynamic properties of a Ni micro-actuator fabricated via LIGA technology with 1100/30/100 μm (long/wide/thick) arms. The tip displacement of the micro-actuator could achieve up to 42 μm driven by a laser beam (1064 nm wavelength, 1.2 W power, and a driving frequency of 1 HZ). It is found that the tip displacement decreases with increasing laser driving frequency. For 8 Hz driving frequency, 17 μm (peak-valley value) can be still reached, which is large enough for the application as micro-electro-mechanical systems. Metal photo-thermal micro actuators have advantages such as large displacement, simple structure, and large temperature tolerance, and therefore they will be promising in the fields of micro/nanotechnology.

Inverse grey-box model-based control of a dielectric elastomer actuator

DEFF Research Database (Denmark)

Jones, Richard William; Sarban, Rahimullah

2012-01-01

control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control......An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... of control scheme was dictated by the desire for transparency in both controller design and operation. The internal model control (IMC) approach was chosen. In this particular application, the inverse of the linearized form of the grey-box model is used to formulate the IMC controller. To ensure consistent...

Multistable wireless micro-actuator based on antagonistic pre-shaped double beams

International Nuclear Information System (INIS)

Liu, X; Lamarque, F; Doré, E; Pouille, P

2015-01-01

This paper presents a monolithic multistable micro-actuator based on antagonistic pre-shaped double beams. The designed micro-actuator is formed by two rows of bistable micro-actuators providing four stable positions. The bistable mechanism for each row is a pair of antagonistic pre-shaped beams. This bistable mechanism has an easier pre-load operation compared to the pre-compressed bistable beams method. Furthermore, it solves the asymmetrical force output problem of parallel pre-shaped bistable double beams. At the same time, the geometrical limit is lower than parallel pre-shaped bistable double beams, which ensures a smaller stroke of the micro-actuator with the same dimensions. The designed micro-actuator is fabricated using laser cutting machine on medium density fiberboard (MDF). The bistability and merits of antagonistic pre-shaped double beams are experimentally validated. Finally, a contactless actuation test is performed using 660 nm wavelength laser heating shape memory alloy (SMA) active elements. (paper)

Multistable wireless micro-actuator based on antagonistic pre-shaped double beams

Science.gov (United States)

Liu, X.; Lamarque, F.; Doré, E.; Pouille, P.

2015-07-01

This paper presents a monolithic multistable micro-actuator based on antagonistic pre-shaped double beams. The designed micro-actuator is formed by two rows of bistable micro-actuators providing four stable positions. The bistable mechanism for each row is a pair of antagonistic pre-shaped beams. This bistable mechanism has an easier pre-load operation compared to the pre-compressed bistable beams method. Furthermore, it solves the asymmetrical force output problem of parallel pre-shaped bistable double beams. At the same time, the geometrical limit is lower than parallel pre-shaped bistable double beams, which ensures a smaller stroke of the micro-actuator with the same dimensions. The designed micro-actuator is fabricated using laser cutting machine on medium density fiberboard (MDF). The bistability and merits of antagonistic pre-shaped double beams are experimentally validated. Finally, a contactless actuation test is performed using 660 nm wavelength laser heating shape memory alloy (SMA) active elements.

Bio-inspired passive actuator simulating an abalone shell mechanism for structural control

International Nuclear Information System (INIS)

Yang, Henry T Y; Lin, Chun-Hung; Bridges, Daniel; Randall, Connor J; Hansma, Paul K

2010-01-01

An energy dispersion mechanism called 'sacrificial bonds and hidden length', which is found in some biological systems, such as abalone shells and bones, is the inspiration for new strategies for structural control. Sacrificial bonds and hidden length can substantially increase the stiffness and enhance energy dissipation in the constituent molecules of abalone shells and bone. Having been inspired by the usefulness and effectiveness of such a mechanism, which has evolved over millions of years and countless cycles of evolutions, the authors employ the conceptual underpinnings of this mechanism to develop a bio-inspired passive actuator. This paper presents a fundamental method for optimally designing such bio-inspired passive actuators for structural control. To optimize the bio-inspired passive actuator, a simple method utilizing the force–displacement–velocity (FDV) plots based on LQR control is proposed. A linear regression approach is adopted in this research to find the initial values of the desired parameters for the bio-inspired passive actuator. The illustrative examples, conducted by numerical simulation with experimental validation, suggest that the bio-inspired passive actuator based on sacrificial bonds and hidden length may be comparable in performance to state-of-the-art semi-active actuators

Bio-inspired passive actuator simulating an abalone shell mechanism for structural control

Science.gov (United States)

Yang, Henry T. Y.; Lin, Chun-Hung; Bridges, Daniel; Randall, Connor J.; Hansma, Paul K.

2010-10-01

An energy dispersion mechanism called 'sacrificial bonds and hidden length', which is found in some biological systems, such as abalone shells and bones, is the inspiration for new strategies for structural control. Sacrificial bonds and hidden length can substantially increase the stiffness and enhance energy dissipation in the constituent molecules of abalone shells and bone. Having been inspired by the usefulness and effectiveness of such a mechanism, which has evolved over millions of years and countless cycles of evolutions, the authors employ the conceptual underpinnings of this mechanism to develop a bio-inspired passive actuator. This paper presents a fundamental method for optimally designing such bio-inspired passive actuators for structural control. To optimize the bio-inspired passive actuator, a simple method utilizing the force-displacement-velocity (FDV) plots based on LQR control is proposed. A linear regression approach is adopted in this research to find the initial values of the desired parameters for the bio-inspired passive actuator. The illustrative examples, conducted by numerical simulation with experimental validation, suggest that the bio-inspired passive actuator based on sacrificial bonds and hidden length may be comparable in performance to state-of-the-art semi-active actuators.

Fraction-based input modification for fast SMA-actuation

NARCIS (Netherlands)

Gaasbeek, Rolf; de Jager, Bram

Shape Memory Alloy actuators are microactuators that are known for their high actuation-force and -strain. Limiting the application of Shape Memory Alloy actuators is the lack of suitable control algorithms that can deal with the highly non-linear dynamics of the actuator. The latter suffers from

Aeroelastic Analysis of Helicopter Rotor Blades Incorporating Anisotropic Piezoelectric Twist Actuation

Science.gov (United States)

Wilkie, W. Keats; Belvin, W. Keith; Park, K. C.

1996-01-01

A simple aeroelastic analysis of a helicopter rotor blade incorporating embedded piezoelectric fiber composite, interdigitated electrode blade twist actuators is described. The analysis consists of a linear torsion and flapwise bending model coupled with a nonlinear ONERA based unsteady aerodynamics model. A modified Galerkin procedure is performed upon the rotor blade partial differential equations of motion to develop a system of ordinary differential equations suitable for dynamics simulation using numerical integration. The twist actuation responses for three conceptual fullscale blade designs with realistic constraints on blade mass are numerically evaluated using the analysis. Numerical results indicate that useful amplitudes of nonresonant elastic twist, on the order of one to two degrees, are achievable under one-g hovering flight conditions for interdigitated electrode poling configurations. Twist actuation for the interdigitated electrode blades is also compared with the twist actuation of a conventionally poled piezoelectric fiber composite blade. Elastic twist produced using the interdigitated electrode actuators was found to be four to five times larger than that obtained with the conventionally poled actuators.

LES-based characterization of a suction and oscillatory blowing fluidic actuator

Science.gov (United States)

Kim, Jeonglae; Moin, Parviz

2015-11-01

Recently, a novel fluidic actuator using steady suction and oscillatory blowing was developed for control of turbulent flows. The suction and oscillatory blowing (SaOB) actuator combines steady suction and pulsed oscillatory blowing into a single device. The actuation is based upon a self-sustained mechanism of confined jets and does not require any moving parts. The control output is determined by a pressure source and the geometric details, and no additional input is needed. While its basic mechanisms have been investigated to some extent, detailed characteristics of internal turbulent flows are not well understood. In this study, internal flows of the SaOB actuator are simulated using large-eddy simulation (LES). Flow characteristics within the actuator are described in detail for a better understanding of the physical mechanisms and improving the actuator design. LES predicts the self-sustained oscillations of the turbulent jet. Switching frequency, maximum velocity at the actuator outlets, and wall pressure distribution are in good agreement with the experimental measurements. The computational results are used to develop simplified boundary conditions for numerical experiments of active flow control. Supported by the Boeing company.

Photoredox-Based Actuation of an Artificial Molecular Muscle.

Science.gov (United States)

Liles, Kevin P; Greene, Angelique F; Danielson, Mary K; Colley, Nathan D; Wellen, Andrew; Fisher, Jeremy M; Barnes, Jonathan C

2018-01-24

The use of light to actuate materials is advantageous because it represents a cost-effective and operationally straightforward way to introduce energy into a stimuli-responsive system. Common strategies for photoinduced actuation of materials typically rely on light irradiation to isomerize azobenzene or spiropyran derivatives, or to induce unidirectional rotation of molecular motors incorporated into a 3D polymer network. Although interest in photoredox catalysis has risen exponentially in the past decade, there are far fewer examples where photoinduced electron transfer (PET) processes are employed to actuate materials. Here, a novel mode of actuation in a series of redox-responsive hydrogels doped with a visible-light-absorbing ruthenium-based photocatalyst is reported. The hydrogels are composed primarily of polyethylene glycol and low molar concentrations of a unimolecular electroactive polyviologen that is activated through a PET mechanism. The rate and degree of contraction of the hydrogels are measured over several hours while irradiating with blue light. Likewise, the change in mechanical properties-determined through oscillatory shear rheology experiments-is assessed as a function of polyviologen concentration. Finally, an artificial molecular muscle is fabricated using the best-performing hydrogel composition, and its ability to perform work, while irradiated, is demonstrated by lifting a small weight. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Controlling Tensegrity Robots through Evolution using Friction based Actuation

Science.gov (United States)

Kothapalli, Tejasvi; Agogino, Adrian K.

2017-01-01

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

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.

Optimized electrode coverage of membrane actuators based on epitaxial PZT thin films

International Nuclear Information System (INIS)

Nguyen, M D; Dekkers, M; Blank, D H A; Rijnders, G; Nazeer, H

2013-01-01

This research presents an optimization of piezoelectric membrane actuators by maximizing the actuator displacement. Membrane actuators based on epitaxial Pb(Zr,Ti)O 3 thin films grown on all-oxide electrodes and buffer layers using silicon technology were fabricated. Electrode coverage was found to be an important factor in the actuation displacement of the piezoelectric membranes. The optimum electrode coverage for maximum displacement was theoretically determined to be 39%, which is in good agreement with the experimental results. Dependences of membrane displacement and optimum electrode coverage on membrane diameter and PZT-film/Si-device-layer thickness ratio have also been investigated. (paper)

Plasma-based actuators for turbulent boundary layer control in transonic flow

Science.gov (United States)

Budovsky, A. D.; Polivanov, P. A.; Vishnyakov, O. I.; Sidorenko, A. A.

2017-10-01

The study is devoted to development of methods for active control of flow structure typical for the aircraft wings in transonic flow with turbulent boundary layer. The control strategy accepted in the study was based on using of the effects of plasma discharges interaction with miniature geometrical obstacles of various shapes. The conceptions were studied computationally using 3D RANS, URANS approaches. The results of the computations have shown that energy deposition can significantly change the flow pattern over the obstacles increasing their influence on the flow in boundary layer region. Namely, one of the most interesting and promising data were obtained for actuators basing on combination of vertical wedge with asymmetrical plasma discharge. The wedge considered is aligned with the local streamlines and protruding in the flow by 0.4-0.8 of local boundary layer thickness. The actuator produces negligible distortion of the flow at the absence of energy deposition. Energy deposition along the one side of the wedge results in longitudinal vortex formation in the wake of the actuator providing momentum exchange in the boundary layer. The actuator was manufactured and tested in wind tunnel experiments at Mach number 1.5 using the model of flat plate. The experimental data obtained by PIV proved the availability of the actuator.

Polymer-based actuators for virtual reality devices

Science.gov (United States)

Bolzmacher, Christian; Hafez, Moustapha; Benali Khoudja, Mohamed; Bernardoni, Paul; Dubowsky, Steven

2004-07-01

Virtual Reality (VR) is gaining more importance in our society. For many years, VR has been limited to the entertainment applications. Today, practical applications such as training and prototyping find a promising future in VR. Therefore there is an increasing demand for low-cost, lightweight haptic devices in virtual reality (VR) environment. Electroactive polymers seem to be a potential actuation technology that could satisfy these requirements. Dielectric polymers developed the past few years have shown large displacements (more than 300%). This feature makes them quite interesting for integration in haptic devices due to their muscle-like behaviour. Polymer actuators are flexible and lightweight as compared to traditional actuators. Using stacks with several layers of elatomeric film increase the force without limiting the output displacement. The paper discusses some design methods for a linear dielectric polymer actuator for VR devices. Experimental results of the actuator performance is presented.

Modelling of coulometric sensor-actuator systems based on ISFETs with a porous actuator covering the gate

NARCIS (Netherlands)

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

1993-01-01

The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed

Active control of massively separated high-speed/base flows with electric arc plasma actuators

Science.gov (United States)

DeBlauw, Bradley G.

The current project was undertaken to evaluate the effects of electric arc plasma actuators on high-speed separated flows. Two underlying goals motivated these experiments. The first goal was to provide a flow control technique that will result in enhanced flight performance for supersonic vehicles by altering the near-wake characteristics. The second goal was to gain a broader and more sophisticated understanding of these complex, supersonic, massively-separated, compressible, and turbulent flow fields. The attainment of the proposed objectives was facilitated through energy deposition from multiple electric-arc plasma discharges near the base corner separation point. The control authority of electric arc plasma actuators on a supersonic axisymmetric base flow was evaluated for several actuator geometries, frequencies, forcing modes, duty cycles/on-times, and currents. Initially, an electric arc plasma actuator power supply and control system were constructed to generate the arcs. Experiments were performed to evaluate the operational characteristics, electromagnetic emission, and fluidic effect of the actuators in quiescent ambient air. The maximum velocity induced by the arc when formed in a 5 mm x 1.6 mm x 2 mm deep cavity was about 40 m/s. During breakdown, the electromagnetic emission exhibited a rise and fall in intensity over a period of about 340 ns. After breakdown, the emission stabilized to a near-constant distribution. It was also observed that the plasma formed into two different modes: "high-voltage" and "low-voltage". It is believed that the plasma may be switching between an arc discharge and a glow discharge for these different modes. The two types of plasma do not appear to cause substantial differences on the induced fluidic effects of the actuator. In general, the characterization study provided a greater fundamental understanding of the operation of the actuators, as well as data for computational model comparison. Preliminary investigations

Piezoelectric-based actuators for improved tractor-trailer performance (Conference Presentation)

Science.gov (United States)

Menicovich, David; Amitay, Michael; Gallardo, Daniele

2017-04-01

The application of piezo-electrically-driven synthetic-jet-based active flow control to reduce drag on tractor-trailers and to improve thermal mixing in refrigerated trailers was explored on full-scale tests. The active flow control technique that is being used relies on a modular system comprised of distributed, small, highly efficient actuators. These actuators, called synthetic jets, are jets that are synthesized at the edge of an orifice by a periodic motion of a piezoelectric diaphragm(s) mounted on one (or more) walls of a sealed cavity. The synthetic jet is zero net mass flux (ZNMF), but it allows momentum transfer to flow. It is typically driven near diaphragm and/or cavity resonance, and therefore, small electric input [O(10W)] is required. Another advantage of this actuator is that no plumbing is required. The system doesn't require changes to the body of the truck, can be easily reconfigured to various types of vehicles, and consumes small amounts of electrical power from the existing electrical system of the truck. The actuators are operated in a closed feedback loop based on inputs received from the tractor's electronic control unit, various system components and environmental sensors. The data are collected and processed on-board and transmitted to a cloud-based data management platform for further big data analytics and diagnostics. The system functions as a smart connected product through the interchange of data between the physical truck-mounted system and its cloud platform.

High-cycle electromechanical aging of dielectric elastomer actuators with carbon-based electrodes

Science.gov (United States)

de Saint-Aubin, C. A.; Rosset, S.; Schlatter, S.; Shea, H.

2018-07-01

We present high-cycle aging tests of dielectric elastomer actuators (DEAs) based on silicone elastomers, reporting on the time-evolution of actuation strain and of electrode resistance over millions of cycles. We compare several types of carbon-based electrodes, and for the first time show how the choice of electrode has a dramatic influence on DEA aging. An expanding circle DEA configuration is used, consisting of a commercial silicone membrane with the following electrodes: commercial carbon grease applied manually, solvent-diluted carbon grease applied by stamping (pad printing), loose carbon black powder applied manually, carbon black powder suspension applied by inkjet-printing, and conductive silicone-carbon composite applied by stamping. The silicone-based DEAs with manually applied carbon grease electrodes show the shortest lifetime of less than 105 cycles at 5% strain, while the inkjet-printed carbon powder and the stamped silicone-carbon composite make for the most reliable devices, with lifetimes greater than 107 cycles at 5% strain. These results are valid for the specific dielectric and electrode configurations that were tested: using other dielectrics or electrode formulations would lead to different lifetimes and failure modes. We find that aging (as seen in the change in resistance and in actuation strain versus cycle number) is independent of the actuation frequency from 10 Hz to 200 Hz, and depends on the total accumulated time the DEA spends in an actuated state.

Magnetic suspension characteristics of electromagnetic actuators

Science.gov (United States)

Rao, Dantam K.; Dill, J.; Zorzi, E.

1993-01-01

Electromagnetic actuators that use a current-carrying coil (which is placed in a magnetic field) to generate mechanical force are conceptually attractive components for active control of rotating shafts. In one concept that is being tested in the laboratory, the control forces from such actuators are applied on the flexibly supported bearing housings of the rotor. Development of this concept into a practical reality requires a clear and thorough understanding of the role of electromechanical parameters of these actuators in delivering the right amount of control force at the right phase into the rotor. The electromechanical parameters of the actuators investigated are the mass of the armature, stiffness of its suspension, electrical resistance, and inductance of the coils. Improper selection of these parameters can result in degradation in their performance, leading to mistuning between the actuator and the rotor. Through a simple analysis, it is shown that use of such mistuned actuators could result in sharp fluctuations in the phase of the control force delivered into the rotor around the critical speeds. These sharp fluctuations in phase, called 'Phase Glitches', are undesirable. Hence, future designs of controllers should take into account the undesirable mistuning effects between the actuator and the rotor caused by the phase glitches.

Dielectric oil-based polymer actuator for improved thickness strain and breakdown voltage

International Nuclear Information System (INIS)

Cho, Min Sung; Yamamoto, Akio

2016-01-01

Dielectric elastomer actuators (DEAs) have been increasingly investigated as alternative actuators to conventional ones. However, DEAs suffer from high rates of premature failure. Therefore, this study proposes a dielectric oil-based polymer actuator, also called a Dielectric liquid actuator (DLA), to compensate for the drawbacks of DEAs. DLA was experimentally compared with conventional DEAs. Results showed that DLA successfully prevented thermal runaway at defects in the electrode and excessive thinning of the film, resulting in increased breakdown voltage. Consequently, premature failure was inhibited, and the performance was improved. The breakdown voltages of DLA and DEA were 6000 and 2000 V, respectively, and their maximum thickness strains were 49.5% and 37.5%, respectively

Dielectric oil-based polymer actuator for improved thickness strain and breakdown voltage

Energy Technology Data Exchange (ETDEWEB)

Cho, Min Sung; Yamamoto, Akio [Dept. of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo (Japan)

2016-09-15

Dielectric elastomer actuators (DEAs) have been increasingly investigated as alternative actuators to conventional ones. However, DEAs suffer from high rates of premature failure. Therefore, this study proposes a dielectric oil-based polymer actuator, also called a Dielectric liquid actuator (DLA), to compensate for the drawbacks of DEAs. DLA was experimentally compared with conventional DEAs. Results showed that DLA successfully prevented thermal runaway at defects in the electrode and excessive thinning of the film, resulting in increased breakdown voltage. Consequently, premature failure was inhibited, and the performance was improved. The breakdown voltages of DLA and DEA were 6000 and 2000 V, respectively, and their maximum thickness strains were 49.5% and 37.5%, respectively.

New Incremental Actuators based on Electro-active Polymer: Conceptual, Control, and Driver Design Considerations. 

OpenAIRE

Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe; Andersen, Michael A. E.; Sarban, Rahimullah

2016-01-01

This paper presents an overview of the widely usedconventional linear actuator technologies and existing electroactivepolymer based linear and rotary actuators. It also providesthe conceptual, control and driver design considerations for anew dielectric electro-active polymer (DEAP) based incrementalactuator. The DEAP incremental actuator consists of threeindependent DEAP actuators with a unique cylindrical designthat potentially simplifies mass production and scalabilitycompared to existing ...

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

Science.gov (United States)

Williams, Robert L., II

1992-01-01

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

An aeroelastic analysis of helicopter rotor blades incorporating piezoelectric fiber composite twist actuation

Science.gov (United States)

Wilkie, W. Keats; Park, K. C.

1996-01-01

A simple aeroelastic analysis of a helicopter rotor blade incorporating embedded piezoelectric fiber composite, interdigitated electrode blade twist actuators is described. The analysis consist of a linear torsion and flapwise bending model coupled with a nonlinear ONERA based unsteady aerodynamics model. A modified Galerkin procedure is performed upon the rotor blade partial differential equations of motion to develop a system of ordinary differential equations suitable for numerical integration. The twist actuation responses for three conceptual full-scale blade designs with realistic constraints on blade mass are numerically evaluated using the analysis. Numerical results indicate that useful amplitudes of nonresonant elastic twist, on the order of one to two degrees, are achievable under one-g hovering flight conditions for interdigitated electrode poling configurations. Twist actuation for the interdigitated electrode blades is also compared with the twist actuation of a conventionally poled piezoelectric fiber composite blade. Elastic twist produced using the interdigitated electrode actuators was found to be four to five times larger than that obtained with the conventionally poled actuators.

Torsional Properties of TiNi Shape Memory Alloy Tape for Rotary Actuator

Science.gov (United States)

Takeda, K.; Tobushi, H.; Mitsui, K.; Nishimura, Y.; Miyamoto, K.

2012-12-01

In order to develop novel shape memory actuators, the torsional deformation of a shape memory alloy (SMA) tape and the actuator models driven by the tape were investigated. The results obtained can be summarized as follows. In the SMA tape subjected to torsion, the martensitic transformation appears along both edges of the tape due to elongation of these elements and grows to the central part. The fatigue life in both the pulsating torsion and alternating torsion is expressed by the unified relationship of the dissipated work in each cycle. Based on an opening and closing door model and a solar-powered active blind model, the two-way rotary driving actuator with a small and simple mechanism can be developed by using torsion of the SMA tape.

Analysis and experiment on a self-sensing ionic polymer–metal composite actuator

International Nuclear Information System (INIS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-01-01

An ionic polymer–metal composite (IPMC) actuator is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network. This paper aims to develop a self-sensing actuator for practical use, since current sensing methods generally face limitations due to the compact size and mobility of the IPMC actuator. Firstly, the variation of surface resistance during bending operations is investigated. Then, the behavior of IPMC corresponding to the variation of surface resistance is mathematically analyzed. Based on the analysis results, a simple configuration to realize the self-sensing behavior is introduced. In this technique, the bending curvature of an IPMC can be obtained accurately by employing several feedback voltage signals along with the IPMC length. Finally, experimental evaluations proved the ability of the proposed scheme to estimate the bending behavior of IPMC actuators. (paper)

Smart materials-based actuators at the micronano-scale characterization, control, and applications

CERN Document Server

2013-01-01

Smart Materials-Based Actuators at the Micro/Nano-Scale: Characterization, Control, and Applications gives a state of the art of emerging techniques to the characterization and control of actuators based on smart materials working at the micro/nano scale. The book aims to characterize some commonly used structures based on piezoelectric and electroactive polymeric actuators and also focuses on various and emerging techniques employed to control them. This book also includes two of the most emerging topics and applications: nanorobotics and cells micro/nano-manipulation. This book: Provides both theoretical and experimental results Contains complete information from characterization, modeling, identification, control to final applications for researchers and engineers that would like to model, characterize, control and apply their own micro/nano-systems Discusses applications such as microrobotics and their control, design and fabrication of microsystems, microassembly and its automation, nanorobotics and thei...

Piezoelectric self-sensing actuator for active vibration control of motorized spindle based on adaptive signal separation

Science.gov (United States)

He, Ye; Chen, Xiaoan; Liu, Zhi; Qin, Yi

2018-06-01

The motorized spindle is the core component of CNC machine tools, and the vibration of it reduces the machining precision and service life of the machine tools. Owing to the fast response, large output force, and displacement of the piezoelectric stack, it is often used as the actuator in the active vibration control of the spindle. A piezoelectric self-sensing actuator (SSA) can reduce the cost of the active vibration control system and simplify the structure by eliminating the use of a sensor, because a SSA can have both actuating and sensing functions at the same time. The signal separation method of a SSA based on a bridge circuit is widely applied because of its simple principle and easy implementation. However, it is difficult to maintain dynamic balance of the circuit. Prior research has used adaptive algorithm to balance of the bridge circuit on the flexible beam dynamically, but those algorithms need no correlation between sensing and control voltage, which limit the applications of SSA in the vibration control of the rotor-bearing system. Here, the electromechanical coupling model of the piezoelectric stack is established, followed by establishment of the dynamic model of the spindle system. Next, a new adaptive signal separation method based on the bridge circuit is proposed, which can separate relative small sensing voltage from related mixed voltage adaptively. The experimental results show that when the self-sensing signal obtained from the proposed method is used as a displacement signal, the vibration of the motorized spindle can be suppressed effectively through a linear quadratic Gaussian (LQG) algorithm.

Environmental Effects on the Polypyrrole Tri-layer Actuator

Directory of Open Access Journals (Sweden)

Nirul Masurkar

2017-04-01

Full Text Available Electroactive polymer actuators such as polypyrrole (PPy are exciting candidates to drive autonomous devices that require low weight and low power. A simple PPy tri-layer bending type cantilever which operates in the air has been demonstrated previously, but the environmental effect on this actuator is still unknown. The major obstacle in the development of the PPy tri-layer actuator is to create proper packaging that reduces oxidation of the electrolyte and maintains constant displacement. Here, we report the variation in the displacement as well as the charge transfer at the different environmental condition. PPy trilayer actuators were fabricated by depositing polypyrrole on gold-coated porous poly(vinylidene fluoride (PVDF using the electro-synthesis method. It has been demonstrated that the charge transfer of tri-layer actuators is more in an inert environment than in open air. In addition, tri-layer actuators show constant deflection and enhancement of life due to the negligible oxidation rate of the electrolyte in an inert environment.

Development of a non-explosive release actuator using shape memory alloy wire.

Science.gov (United States)

Yoo, Young Ik; Jeong, Ju Won; Lim, Jae Hyuk; Kim, Kyung-Won; Hwang, Do-Soon; Lee, Jung Ju

2013-01-01

We have developed a newly designed non-explosive release actuator that can replace currently used release devices. The release mechanism is based on a separation mechanism, which relies on segmented nuts and a shape memory alloy (SMA) wire trigger. A quite fast and simple trigger operation is made possible through the use of SMA wire. This actuator is designed to allow a high preload with low levels of shock for the solar arrays of medium-size satellites. After actuation, the proposed device can be easily and instantly reset. Neither replacement, nor refurbishment of any components is necessary. According to the results of a performance test, the release time, preload capacity, and maximum shock level are 50 ms, 15 kN, and 350 G, respectively. In order to increase the reliability of the actuator, more than ten sets of performance tests are conducted. In addition, the proposed release actuator is tested under thermal vacuum and extreme vibration environments. No degradation or damage was observed during the two environment tests, and the release actuator was able to operate successfully. Considering the test results as a whole, we conclude that the proposed non-explosive release actuator can be applied reliably to intermediate-size satellites to replace existing release systems.

Investigation of actuator debonding effects on active control in smart composite laminates

Directory of Open Access Journals (Sweden)

Bin Huang

2015-04-01

Full Text Available This article presents a numerical study of active vibration control of smart composite laminates in the presence of actuator debonding failures. A comparison between the smart composite laminates with healthy actuator and various partially debonded actuator cases is performed to investigate the debonding effects on the vibration suppression. The improved layerwise theory with Heaviside’s unit step function is adopted to model the displacement field with actuator debonding failure. The higher order electric potential field is adopted to describe the potential variation through the thickness. The finite element method–based formulations are derived using the plate element, taking into consideration the electro-mechanical coupling effect. The reduced-order model is represented by the state-space form and further for the vibration suppression using a simple constant gain velocity feedback control strategy. For the purpose of demonstration, a 16-layer cross-ply substrate laminate ([0/90]4s is employed for the numerical study. The results show that the actuator debonding affects the closed-loop frequencies, active damping ratios, and efficiency of vibration suppression.

Analysis of a spherical permanent magnet actuator

International Nuclear Information System (INIS)

Wang, J.; Jewell, G.W.; Howe, D.

1997-01-01

This paper describes a new form of actuator with a spherical permanent magnet rotor and a simple winding arrangement, which is capable of a high specific torque by utilizing a rare-earth permanent magnet. The magnetic-field distribution is established using an analytical technique formulated in spherical coordinates, and the results are validated by finite element analysis. The analytical field solution allows the prediction of the actuator torque and back emf in closed forms. In turn, these facilitate the characterization of the actuator and provide a firm basis for design optimization, system dynamic modeling, and closed-loop control law development. copyright 1997 American Institute of Physics

Actuation mechanisms of carbon nanotube-based architectures

Science.gov (United States)

Geier, Sebastian; Mahrholz, Thorsten; Wierach, Peter; Sinapius, Michael

2016-04-01

State of the art smart materials such as piezo ceramics or electroactive polymers cannot feature both, mechanical stiffness and high active strain. Moreover, properties like low density, high mechanical stiffness and high strain at the same time driven by low energy play an increasingly important role for their future application. Carbon nanotubes (CNT), show this behavior. Their active behavior was observed 1999 the first time using paper-like mats made of CNT. Therefore the CNT-papers are electrical charged within an electrolyte thus forming a double- layer. The measured deflection of CNT material is based on the interaction between the charged high surface area formed by carbon nanotubes and ions provided by the electrolyte. Although CNT-papers have been extensively analyzed as well at the macro-scale as nano-scale there is still no generally accepted theory for the actuation mechanism. This paper focuses on investigations of the actuation mechanisms of CNT-papers in comparison to vertically aligned CNT-arrays. One reason of divergent results found in literature might be attributed to different types of CNT samples. While CNT-papers represent architectures of short CNTs which need to bridge each other to form the dimensions of the sample, the continuous CNTs of the array feature a length of almost 3 mm, along which the experiments are carried out. Both sample types are tested within an actuated tensile test set-up under different conditions. While the CNT-papers are tested in water-based electrolytes with comparably small redox-windows the hydrophobic CNT-arrays are tested in ionic liquids with comparatively larger redox-ranges. Furthermore an in-situ micro tensile test within an SEM is carried out to prove the optimized orientation of the MWCNTs as result of external load. It was found that the performance of CNT-papers strongly depends on the test conditions. However, the CNT-arrays are almost unaffected by the conditions showing active response at negative

Comparison of microtweezers based on three lateral thermal actuator configurations

Science.gov (United States)

Luo, J. K.; Flewitt, A. J.; Spearing, S. M.; Fleck, N. A.; Milne, W. I.

2005-06-01

Thermal actuator-based microtweezers with three different driving configurations have been designed, fabricated and characterized. Finite element analysis has been used to model the device performance. It was found that one configuration of microtweezer, based on two lateral bimorph thermal actuators, has a small displacement (tip opening of the tweezers) and a very limited operating power range. An alternative configuration consisting of two horizontal hot bars with separated beams as the arms can deliver a larger displacement with a much-extended operating power range. This structure can withstand a higher temperature due to the wider beams used, and has flexible arms for increased displacement. Microtweezers driven by a number of chevron structures in parallel have similar maximum displacements but at a cost of higher power consumption. The measured temperature of the devices confirms that the device with the chevron structure can deliver the largest displacement for a given working temperature, while the bimorph thermal actuator design has the highest operating temperature at the same power due to its thin hot arm, and is prone to structural failure.

Modeling and test of a kinaesthetic actuator based on MR fluid for haptic applications.

Science.gov (United States)

Yang, Tae-Heon; Koo, Jeong-Hoi; Kim, Sang-Youn; Kwon, Dong-Soo

2017-03-01

Haptic display units have been widely used for conveying button sensations to users, primarily employing vibrotactile actuators. However, the human feeling for pressing buttons mainly relies on kinaesthetic sensations (rather than vibrotactile sensations), and little studies exist on small-scale kinaesthetic haptic units. Thus, the primary goals of this paper are to design a miniature kinaesthetic actuator based on Magneto-Rheological (MR) fluid that can convey various button-clicking sensations and to experimentally evaluate its haptic performance. The design focuses of the proposed actuator were to produce sufficiently large actuation forces (resistive forces) for human users in a given size constraint and to offer a wide range of actuation forces for conveying vivid haptic sensations to users. To this end, this study first performed a series of parametric studies using mathematical force models for multiple operating modes of MR fluid in conjunction with finite element electromagnetism analysis. After selecting design parameters based on parametric studies, a prototype actuator was constructed, and its performance was evaluated using a dynamic mechanical analyzer. It measured the actuator's resistive force with a varying stroke (pressed depth) up to 1 mm and a varying input current from 0 A to 200 mA. The results show that the proposed actuator creates a wide range of resistive forces from around 2 N (off-state) to over 9.5 N at 200 mA. In order to assess the prototype's performance in the terms of the haptic application prospective, a maximum force rate was calculated to determine just noticeable difference in force changes for the 1 mm stoke of the actuator. The results show that the force rate is sufficient to mimic various levels of button sensations, indicating that the proposed kinaesthetic actuator can offer a wide range of resistive force changes that can be conveyed to human operators.

Modeling and control of a self-sensing polymer metal composite actuator

International Nuclear Information System (INIS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-01-01

An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)

Shape memory alloys and their application to actuators for deployable structures

International Nuclear Information System (INIS)

Weimin Huang

1998-03-01

have carried out on Nitinol wires. This model has no difficulty in dealing with incomplete loading or thermal cycling. This model has been used to simulate thermal cycling behaviour with fixed length, strain rate effects, and phase transformation front behaviour. Three Nitinol wire-based rotatory actuators, a one-way actuator, a biased actuator, and a two-way actuator, have been designed and tested. The behaviour of these actuators has been simulated by using the phenomenological model that we have developed. The power consumption to operate all actuators was measured. Two simple approaches were proposed to estimate the average power requirements. A preliminary study of a torsional actuator has been made. The general design procedure for Nitinol-based actuators is summarised. The broad aim of this dissertation is also to provide a user's guide to the design of SMA-based actuators. (author)

Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

Directory of Open Access Journals (Sweden)

Glenn-Ole Kaasa

2003-10-01

Full Text Available This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

Design of a rotary dielectric elastomer actuator using a topology optimization method based on pairs of curves

Science.gov (United States)

Wang, Nianfeng; Guo, Hao; Chen, Bicheng; Cui, Chaoyu; Zhang, Xianmin

2018-05-01

Dielectric elastomers (DE), known as electromechanical transducers, have been widely used in the field of sensors, generators, actuators and energy harvesting for decades. A large number of DE actuators including bending actuators, linear actuators and rotational actuators have been designed utilizing an experience design method. This paper proposes a new method for the design of DE actuators by using a topology optimization method based on pairs of curves. First, theoretical modeling and optimization design are discussed, after which a rotary dielectric elastomer actuator has been designed using this optimization method. Finally, experiments and comparisons between several DE actuators have been made to verify the optimized result.

Pulse mode actuation-readout system based on MEMS resonator for liquid sensing

DEFF Research Database (Denmark)

Tang, Meng; Cagliani, Alberto; Davis, Zachary James

2014-01-01

A MEMS (Micro-Electro-Mechanical Systems) bulk disk resonator is applied for mass sensing under its dynamic mode. The classical readout circuitry involves sophisticated feedback loop and feedthrough compensation. We propose a simple straightforward non-loop pulse mode actuation and capacitive...... readout scheme. In order to verify its feasibility in liquid bio-chemical sensing environment, an experimental measurement is conducted with humidity sensing application. The measured resonant frequency changes 60kHz of 67.7MHz with a humidity change of 0~80%....

Design and characterization of low-cost fabric-based flat pneumatic actuators for soft assistive glove application.

Science.gov (United States)

Yap, Hong Kai; Sebastian, Frederick; Wiedeman, Christopher; Yeow, Chen-Hua

2017-07-01

We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies the manufacturing process and allows the actuators to be more compact. The actuators achieve bi-directional flexion and extension motions. Compared to previously developed inflatable soft actuators, the actuators generate sufficient force and torque to assist in both finger flexion and extension at lower air pressure. Preliminary evaluation results show that the glove is able to provide both active finger flexion and extension assistance for activities of daily living and rehabilitative training.

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.

Air Muscle Actuated Low Cost Humanoid Hand

Directory of Open Access Journals (Sweden)

Peter Scarfe

2006-06-01

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.

Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

Science.gov (United States)

Chakarov, Dimitar; Veneva, Ivanka; Tsveov, Mihail; Venev, Pavel

2018-03-01

The actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual "man-robot" interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

Large displacement vertical translational actuator based on piezoelectric thin films.

Science.gov (United States)

Qiu, Zhen; Pulskamp, Jeffrey S; Lin, Xianke; Rhee, Choong-Ho; Wang, Thomas; Polcawich, Ronald G; Oldham, Kenn

2010-07-01

A novel vertical translational microactuator based on thin-film piezoelectric actuation is presented, using a set of four compound bend-up/bend-down unimorphs to produce translational motion of a moving platform or stage. The actuation material is a chemical-solution deposited lead-zirconate-titanate (PZT) thin film. Prototype designs have shown as much as 120 μ m of static displacement, with 80-90 μ m displacements being typical, using four 920 μ m long by 70 μ m legs. Analytical models are presented that accurately describe nonlinear behavior in both static and dynamic operation of prototype stages when the dependence of piezoelectric coefficients on voltage is known. Resonance of the system is observed at a frequency of 200 Hz. The large displacement and high bandwidth of the actuators at low-voltage and low-power levels should make them useful to a variety of optical applications, including endoscopic microscopy.

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

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...

Linear pneumatic actuator

OpenAIRE

Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan

2017-01-01

The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.

Shape memory-based actuators and release mechanisms therefrom

Science.gov (United States)

Vaidyanathan, Rajan (Inventor); Snyder, Daniel W. (Inventor); Schoenwald, David K. (Inventor); Lam, Nhin S. (Inventor); Watson, Daniel S. (Inventor); Krishnan, Vinu B. (Inventor); Noebe, Ronald D. (Inventor)

2012-01-01

SM-based actuators (110) and release mechanisms (100) therefrom and systems (500) including one or more release mechanisms (100). The actuators (110) comprise a SM member (118) and a deformable member (140) mechanically coupled to the SM member (118) which deforms upon a shape change of the SM member triggered by a phase transition of the SM member. A retaining element (160) is mechanically coupled to the deformable member (140), wherein the retaining element (160) moves upon the shape change. Release mechanism (100) include an actuator, a rotatable mechanism (120) including at least one restraining feature (178) for restraining rotational movement of the retaining element (160) before the shape change, and at least one spring (315) that provides at least one locked spring-loaded position when the retaining element is in the restraining feature and at least one released position that is reached when the retaining element is in a position beyond the restraining feature (178). The rotatable mechanism (120) includes at least one load-bearing protrusion (310). A hitch (400) is for mechanically coupling to the load, wherein the hitch is supported on the load bearing protrusion (310) when the rotatable mechanism is in the locked spring-loaded position.

A one-stage, high-load capacity separation actuator using anti-friction rollers and redundant shape memory alloy wires.

Science.gov (United States)

Xiaojun, Yan; Dawei, Huang; Xiaoyong, Zhang; Ying, Liu; Qiaolong, Yang

2015-12-01

This paper proposes a SMA (shape memory alloy) wire-based separation actuator with high-load capacity and simple structure. The novel actuator is based on a one-stage locking mechanism, which means that the separation is directly driven by the SMA wire. To release a large preload, a group of anti-friction rollers are adopted to reduce the force for triggering. In addition, two SMA wires are used redundantly to ensure a high reliability. After separation, the actuator can be reset automatically without any auxiliary tool or manual operation. Three prototypes of the separation actuator are fabricated and tested. According to the performance test results, the actuator can release a maximum preload of 40 kN. The separation time tends to decrease as the operation current increases and it can be as short as 0.5 s under a 7.5 A (the voltage is 5.8 V) current. Lifetime test indicates that the actuator has a lifetime of more than 50 cycles. The environmental tests demonstrate that the actuator can endure the typical thermal and vibration environment tests without unexpected separation or structure damage, and separate normally after these environment tests.

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

Torsional actuation with extension-torsion composite coupling and a magnetostrictive actuator

Science.gov (United States)

Bothwell, Christopher M.; Chandra, Ramesh; Chopra, Inderjit

1995-04-01

An analytical-experimental study of using magnetostrictive actuators in conjunction with an extension-torsion coupled composite tube to actuate a rotor blade trailing-edge flap to actively control helicopter vibration is presented. Thin walled beam analysis based on Vlasov theory was used to predict the induced twist and extension in a composite tube with magnetostrictive actuation. The study achieved good correlation between theory and experiment. The Kevlar-epoxy systems showed good correlation between measured and predicted twist values.

Electrostatically Driven Nanoballoon Actuator.

Science.gov (United States)

Barzegar, Hamid Reza; Yan, Aiming; Coh, Sinisa; Gracia-Espino, Eduardo; Dunn, Gabriel; Wågberg, Thomas; Louie, Steven G; Cohen, Marvin L; Zettl, Alex

2016-11-09

We demonstrate an inflatable nanoballoon actuator based on geometrical transitions between the inflated (cylindrical) and collapsed (flattened) forms of a carbon nanotube. In situ transmission electron microscopy experiments employing a nanoelectromechanical manipulator show that a collapsed carbon nanotube can be reinflated by electrically charging the nanotube, thus realizing an electrostatically driven nanoballoon actuator. We find that the tube actuator can be reliably cycled with only modest control voltages (few volts) with no apparent wear or fatigue. A complementary theoretical analysis identifies critical parameters for nanotube nanoballoon actuation.

New Incremental Actuators based on Electro-active Polymer: Conceptual, Control, and Driver Design Considerations

DEFF Research Database (Denmark)

Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe

2016-01-01

This paper presents an overview of the widely usedconventional linear actuator technologies and existing electroactivepolymer based linear and rotary actuators. It also providesthe conceptual, control and driver design considerations for anew dielectric electro-active polymer (DEAP) based...

An Enhanced Soft Vibrotactile Actuator Based on ePVC Gel with Silicon Dioxide Nanoparticles.

Science.gov (United States)

Park, Won-Hyeong; Shin, Eun-Jae; Yun, Sungryul; Kim, Sang-Youn

2018-01-01

In this paper, we propose a soft vibrotactile actuator made by mixing silicon dioxide nanoparticles and plasticized PVC gel. The effect of the silicon dioxide nanoparticles in the plasticized PVC gel for the haptic performance is investigated in terms of electric, dielectric, and mechanical properties. Furthermore, eight soft vibrotactile actuators are prepared as a function of the content. Experiments are conducted to examine the haptic performance of the prepared eight soft vibrotactile actuators and to find the best weight ratio of the plasticized PVC gel to the nanoparticles. The experiments should show that the plasticized PVC gel with silicon dioxide nanoparticles improves the haptic performance of the plasticized PVC gel-based vibrotactile actuator, and the proposed vibrotactile actuator can create a variety of haptic sensations in a wide frequency range.

Anisotropic D-EAP Electrodes and their Application in Spring Roll Actuators

Science.gov (United States)

Fang, Xiaomeng

Electroactive polymers (EAPs) exhibit shape change when subjected to an electric field. They are lightweight, soft, and inexpensive, while they are easy to process, shape, and tune to offer a broad range of mechanical and electrical properties. Dielectric electroactive polymers (DEAP) constitute a class of EAPs with great potential. D-EAPs consist of physically or chemically cross-linked macromolecular networks and are mechanically isotopic. Therefore, in most actuator applications that require directional electromechanical response, it is necessary to use other complex means to direct the stress/strain in the preferred direction. In this work, a simple carbon nanotube (CNT) based electrode for D-EAP actuators is demonstrated that vastly improves directional strain response originating from the mechanical anisotropy of the electrode material. Using this novel approach, the mechanical anisotropy, defined as the ratio of initial modulus in fiber direction and that in cross-fiber direction, of the CNT electroded VHB actuators, ranges from 7.9 to 11.2. Hence, the CNT-VHB flat film actuators show high directed linear actuation strain in cross-fiber direction of greater than 25% meanwhile almost no strain in fiber direction at a relatively low electric field (120 V mum-1). The morphology of the CNT sheets has critical influence on their mechanical properties and resultant actuator performance. The results demonstrate the efficacy of microcombing and selective laser etching processes to improve the CNT fiber alignment to produce pure unidirectional strain of 33% at a relatively moderate electric field. Unidirectional D-EAP composite laminates using polyurethane and polyamide monofilaments are also employed in spring roll actuators to investigate their directional mechanical and electromechanical properties. While CNT electroded D-EAP spring roll actuators were found to have about the same performance as actuators with carbon grease electrodes (6.5% strain in CNT

Asymmetric actuating structure generates negligible influence on the supporting base for high performance scanning probe microscopies

Science.gov (United States)

Yi Yan, Gang; Bin Liu, Yong; Hua Feng, Zhi

2014-02-01

An asymmetric actuating structure generating negligible influence on the supporting base for high performance scanning probe microscopies is proposed in this paper. The actuator structure consists of two piezostacks, one is used for actuating while the other is for counterbalancing. In contrast with balanced structure, the two piezostacks are installed at the same side of the supporting base. The effectiveness of the structure is proved by some experiments with the actuators fixed to the free end of a cantilever. Experimental results show that almost all of the vibration modes of the cantilever are suppressed effectively at a wide frequency range of 90 Hz-10 kHz.

Helmholtz resonance in a piezoelectric–hydraulic pump-based hybrid actuator

International Nuclear Information System (INIS)

Kim, Gi-Woo; Wang, K W

2011-01-01

This paper demonstrates that a hydraulically acting Helmholtz resonator can exist in a piezoelectric–hydraulic pump (PHP) based hybrid actuator, which in turn affects the volumetric efficiency of the PHP. The simulation and experimental results illustrate the effect of Helmholtz resonance on the flow rate performance of the PHP. The study also shows how to shift the Helmholtz resonant frequency to a higher value through changing parameters such as the cylinder diameter and the effective bulk modulus of the working fluid, which will improve the volumetric efficiency and broaden the operating frequency range of the PHP actuator

Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

Directory of Open Access Journals (Sweden)

Yongling FU

2018-03-01

Full Text Available Electrohydrostatic actuator (EHA is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test. Keywords: Actuation system, Aerospace, Electrohydrostatic actuator, Force control, Nonlinear dynamics, Particle swarm optimization, Position control

Smart film actuators using biomass plastic

International Nuclear Information System (INIS)

Yoneyama, Satoshi; Tanaka, Nobuo

2011-01-01

This paper presents a novel smart film actuator based on the use of a biomass plastic as a piezoelectric film. Conventional polymeric smart sensors and actuators have been based upon synthetic piezoelectric polymer films such as PVDF. Almost all synthetic polymers are made from nearly depleted oil resources. In addition combustion of their materials releases carbon dioxide, thereby contributing to global warming. Thus at least two important sustainability principles are violated when employing synthetic polymers: avoiding depletable resources and avoiding ecosystem destruction. To overcome such problems, industrial plastic products made from synthetic polymers were developed to replace oil-based plastics with biomass plastics. This paper applies a biomass plastic with piezoelectricity such as poly-L-lactic acid (PLLA). As a result, PLLA film becomes a distributed parameter actuator per se, hence an environmentally conscious smart film actuator is developed. Firstly, this paper overviews the fundamental properties of piezoelectric synthetic polymers and biopolymers. The concept of carbon neutrality using biopolymers is mentioned. Then a two-dimensional modal actuator for exciting a specific structural mode is proposed. Furthermore, a biomass plastic-based cantilever beam with the capability of modal actuation is developed, the validity of the proposed smart film actuator based upon a biomass plastic being analytically as well as experimentally verified

Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

DEFF Research Database (Denmark)

Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

2007-01-01

This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

A spongy graphene based bimorph actuator with ultra-large displacement towards biomimetic application.

Science.gov (United States)

Hu, Ying; Lan, Tian; Wu, Guan; Zhu, Zicai; Chen, Wei

2014-11-07

Bimorph actuators, consisting of two layers with asymmetric expansion and generating bending displacement, have been widely researched. Their actuation performances greatly rely on the difference of coefficients of thermal expansion (CTE) between the two material layers. Here, by introducing a spongy graphene (sG) paper with a large negative CTE as well as high electrical-to-thermal properties, an electromechanical sG/PDMS bimorph actuator is designed and fabricated, showing an ultra-large bending displacement output under low voltage stimulation (curvature of about 1.2 cm(-1) at 10 V for 3 s), a high displacement-to-length ratio (∼0.79), and vibration motion at AC voltage (up to 10 Hz), which is much larger and faster than that of the other electromechanical bimorph actuators. Based on the sG/PDMS bimorph serving as the "finger", a mechanical gripper is constructed to realize the fast manipulation of the objects under 0.1 Hz square wave voltage stimulation (0-8 V). The designed bimorph actuator coupled with ultra-large bending displacement, low driven voltage, and the ease of fabrication may open up substantial possibilities for the utilization of electromechanical actuators in practical biomimetic device applications.

An electroactive conducting polymer actuator based on NBR/RTIL solid polymer electrolyte

Science.gov (United States)

Cho, M. S.; Seo, H. J.; Nam, J. D.; Choi, H. R.; Koo, J. C.; Lee, Y.

2007-04-01

This paper reports the fabrication of a dry-type conducting polymer actuator using nitrile rubber (NBR) as the base material in a solid polymer electrolyte. The conducting polymer, poly(3,4-ethylenedioxythiophene) (PEDOT), was synthesized on the surface of the NBR layer by using a chemical oxidation polymerization technique. Room-temperature ionic liquids (RTIL) based on imidazolium salts, e.g. 1-butyl-3-methyl imidazolium X (where X = BF4-, PF6-, (CF3SO2)2N-), were absorbed into the composite film. The compatibility between the ionic liquids and the NBR polymer was confirmed by DMA. The effect of the anion size of the ionic liquids on the displacement of the actuator was examined. The displacement increased with increasing anion size of the ionic liquids. The cyclic voltammetry responses and the redox switching dynamics of the actuators were examined in different ionic liquids.

Linear pneumatic actuator

Directory of Open Access Journals (Sweden)

Avram Mihai

2017-01-01

Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

Science.gov (United States)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Actuators based on polyurethanes with different types of polyol

Science.gov (United States)

Lim, Hyun-Ok; Bark, Geong-Mi; Jo, Nam-Ju

2007-07-01

This study dealt with the electrostrictive responses of polyurethane (PU) actuators with different microphase separation structure, which was a promising candidate for a material used in polymer actuators. In order to construct PUs with different higher-order structure, we synthesized PUs with different diols; poly(neopentyl glycol adipate) (PNAD), poly(tetramethylene glycol) (PTMG), and poly(dimethyl siloxnae) (PDMS). Synthesized PU was characterized by FT-IR spectroscopy and GPC. Thermal analysis and mechanical properties of PU films were carried out with DSC and UTM, respectively. And PU actuator was formed in a monomorph type which made by carbon black electrodes on the both surfaces of PU film by spin coating method. Actuation behavior was mainly influenced on microphase separation structure and mechanical property of PU. In result, PU actuator with PNAD, polyester urethane, had the largest field-induced displacement.

Development of thermal actuators with multi-locking positions

Science.gov (United States)

Luo, J. K.; Zhu, Y.; Fu, Y. Q.; Flewitt, A. J.; Spearing, S. M.; Miao, J. M.; Milne, W. I.

2006-04-01

To reduce power consumption and operation temperature for micro-thermal actuators, metal-based micro-mechanical locks with multi-locking positions were analyzed and fabricated. The micro-locks consist of two or three U-shaped thermal actuators. The devices were made by a single mask process using electroplated Ni as the active material. Tests showed that the metal based thermal actuators deliver a maximum displacement of ~20µm at a much lower temperature than that of Si-based actuators. However Ni-actuators showed a severe back bending, which increases with increasing applied power. The temperature to initiate the back bending is as low as ~240°C. Back bending increases the distance between the two actuators, and leads to locking function failure. For practical application, Ni-based thermal actuators must be operated below 200°C.

Low voltage driven dielectric electro active polymer actuator with integrated piezoelectric transformer based driver

DEFF Research Database (Denmark)

Andersen, Thomas; Rødgaard, Martin Schøler; Thomsen, Ole Cornelius

2011-01-01

actuators, a low voltage solution is developed by integrating the driver electronic into a 110 mm tall cylindrical coreless Push InLastor actuator. To decrease the size of the driver, a piezoelectric transformer (PT) based solution is utilized. The PT is essentially an improved Rosen type PT...

Large-Deformation Curling Actuators Based on Carbon Nanotube Composite: Advanced-Structure Design and Biomimetic Application.

Science.gov (United States)

Chen, Luzhuo; Weng, Mingcen; Zhou, Zhiwei; Zhou, Yi; Zhang, Lingling; Li, Jiaxin; Huang, Zhigao; Zhang, Wei; Liu, Changhong; Fan, Shoushan

2015-12-22

In recent years, electroactive polymers have been developed as actuator materials. As an important branch of electroactive polymers, electrothermal actuators (ETAs) demonstrate potential applications in the fields of artificial muscles, biomimetic devices, robotics, and so on. Large-shape deformation, low-voltage-driven actuation, and ultrafast fabrication are critical to the development of ETA. However, a simultaneous optimization of all of these advantages has not been realized yet. Practical biomimetic applications are also rare. In this work, we introduce an ultrafast approach to fabricate a curling actuator based on a newly designed carbon nanotube and polymer composite, which completely realizes all of the above required advantages. The actuator shows an ultralarge curling actuation with a curvature greater than 1.0 cm(-1) and bending angle larger than 360°, even curling into a tubular structure. The driving voltage is down to a low voltage of 5 V. The remarkable actuation is attributed not only to the mismatch in the coefficients of thermal expansion but also to the mechanical property changes of materials during temperature change. We also construct an S-shape actuator to show the possibility of building advanced-structure actuators. A weightlifting walking robot is further designed that exhibits a fast-moving motion while lifting a sample heavier than itself, demonstrating promising biomimetic applications.

Air Ambient-Operated pNIPAM-Based Flexible Actuators Stimulated by Human Body Temperature and Sunlight.

Science.gov (United States)

Yamamoto, Yuki; Kanao, Kenichiro; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2015-05-27

Harnessing a natural power source such as the human body temperature or sunlight should realize ultimate low-power devices. In particular, macroscale and flexible actuators that do not require an artificial power source have tremendous potential. Here we propose and demonstrate electrically powerless polymer-based actuators operated at ambient conditions using a packaging technique in which the stimulating power source is produced by heat from the human body or sunlight. The actuating angle, force, and reliability are discussed as functions of temperature and exposure to sunlight. Furthermore, a wearable device platform and a smart curtain actuated by the temperature of human skin and sunlight, respectively, are demonstrated as the first proof-of-concepts. These nature-powered actuators should realize a new class of ultimate low-power devices.

Parameter identification based on modified simulated annealing differential evolution algorithm for giant magnetostrictive actuator

Science.gov (United States)

Gao, Xiaohui; Liu, Yongguang

2018-01-01

There is a serious nonlinear relationship between input and output in the giant magnetostrictive actuator (GMA) and how to establish mathematical model and identify its parameters is very important to study characteristics and improve control accuracy. The current-displacement model is firstly built based on Jiles-Atherton (J-A) model theory, Ampere loop theorem and stress-magnetism coupling model. And then laws between unknown parameters and hysteresis loops are studied to determine the data-taking scope. The modified simulated annealing differential evolution algorithm (MSADEA) is proposed by taking full advantage of differential evolution algorithm's fast convergence and simulated annealing algorithm's jumping property to enhance the convergence speed and performance. Simulation and experiment results shows that this algorithm is not only simple and efficient, but also has fast convergence speed and high identification accuracy.

Adaptive mechanical-wetting lens actuated by ferrofluids

Science.gov (United States)

Cheng, Hui-Chuan; Xu, Su; Liu, Yifan; Levi, Shoshana; Wu, Shin-Tson

2011-04-01

We report an adaptive mechanical-wetting lens actuated by ferrofluids. The ferrofluids works like a piston to pump liquids in and out from the lens chamber, which in turn reshapes the lens curvature and changes the focal length. Both positive and negative lenses are demonstrated experimentally. The ferrofluid-actuated mechanical-wetting lens exhibits some attractive features, such as high resolution, fast response time, low power consumption, simple structure and electronic control, weak gravity effect, and low cost. Its potential applications in medical imaging, surveillance, and commercial electronics are foreseeable.

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

Novel electroactive PVA-TOCN actuator that is extremely sensitive to low electrical inputs

International Nuclear Information System (INIS)

Wang, Fan; Kim, Si-Seup; Kee, Chang-Doo; Shen, Yun-De; Oh, Il-Kwon

2014-01-01

A novel electroactive biopolymer actuator was developed based on a cross-linked ionic networking membrane of TEMPO-oxidized bacterial cellulose nanofibers (TOCNs) and polyvinyl alcohol (PVA). Ionic liquids were added to develop an air-working artificial muscle and to enhance the performance of the PVA-TOCN actuator. Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) conducting layers were deposited on the top and bottom surfaces of the PVA-TOCN membrane via a simple dipping and drying method. The electroactive PVA-TOCN actuator under both step and harmonic electrical inputs shows much larger tip displacements and faster bending deformation than the pure TOCN actuator. The cross-linking reaction between PVA and TOCN was observed in the Fourier transform–near-infrared (FT-IR) spectrum of the PVA-TOCN networking membrane. Scanning electron microscopy (SEM), x-ray diffusion (XRD), thermogravimetric analysis (TGA) and tensile and ion conductivity testing results for the PVA-TOCN membrane were compared with those of pristine TOCN. Most important, the PVA-TOCN actuator shows much larger bending deformation under even extremely low input voltages, and this could be attributed to the cross-linking mechanism and the greater flexibility resulting from the synergistic effects between PVA and TOCN. (papers)

Fiber-Reinforced Origamic Robotic Actuator.

Science.gov (United States)

Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng

2018-02-01

A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.

Design and property analysis of a hybrid linear actuator based on shape memory alloy

International Nuclear Information System (INIS)

Zhang, Xiaoguang; Hu, Jinhong; Mao, Shixin; Dong, Erbao; Yang, Jie

2014-01-01

This paper introduces two methods for solving two bottlelike problems regarding the shape memory alloy (SMA) application as actuators. These methods are ‘rotating output,’ which aims to solve the problem of the low working frequency caused by the demand for cool time, and ‘accumulated shifting,’ which solves the problem of difficult-to-obtain output displacements in a large scale. We also introduce a hybrid linear actuator that applies the two methods and achieves both a strong force and an accurate large output displacement while working at a high frequency based on the SMA wires and DC motors. A prototype of this actuator was fabricated and tested to verify the two methods. This hybrid actuator system dynamic model, which was composed of the constitutive model of the SMA, the electrical and heat transfer behavior of the SMA wires and the dynamics of the linear actuation system, was established and discussed. Our study aims to illuminate the application of an SMA in actuators with the proposed methods with regard to its two main problems. An actuator with a high power-weight ratio and the capability to work at a high frequency, as well as accurate linear step displacements in a large scale, is also presented. (paper)

Cylindrical Piezoelectric Fiber Composite Actuators

Science.gov (United States)

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

2008-01-01

The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.

Bioinspired Smart Actuator Based on Graphene Oxide-Polymer Hybrid Hydrogels.

Science.gov (United States)

Wang, Tao; Huang, Jiahe; Yang, Yiqing; Zhang, Enzhong; Sun, Weixiang; Tong, Zhen

2015-10-28

Rapid response and strong mechanical properties are desired for smart materials used in soft actuators. A bioinspired hybrid hydrogel actuator was designed and prepared by series combination of three trunks of tough polymer-clay hydrogels to accomplish the comprehensive actuation of "extension-grasp-retraction" like a fishing rod. The hydrogels with thermo-creep and thermo-shrinking features were successively irradiated by near-infrared (NIR) to execute extension and retraction, respectively. The GO in the hydrogels absorbed the NIR energy and transformed it into thermo-energy rapidly and effectively. The hydrogel with adhesion or magnetic force was adopted as the "hook" of the hybrid hydrogel actuator for grasping object. The hook of the hybrid hydrogel actuator was replaceable according to applications, even with functional materials other than hydrogels. This study provides an innovative concept to explore new soft actuators through combining response hydrogels and programming the same stimulus.

Design and Simulation of an Electrothermal Actuator Based Rotational Drive

Science.gov (United States)

Beeson, Sterling; Dallas, Tim

2008-10-01

As a participant in the Micro and Nano Device Engineering (MANDE) Research Experience for Undergraduates program at Texas Tech University, I learned how MEMS devices operate and the limits of their operation. Using specialized AutoCAD-based design software and the ANSYS simulation program, I learned the MEMS fabrication process used at Sandia National Labs, the design limitations of this process, the abilities and drawbacks of micro devices, and finally, I redesigned a MEMS device called the Chevron Torsional Ratcheting Actuator (CTRA). Motion is achieved through electrothermal actuation. The chevron (bent-beam) actuators cause a ratcheting motion on top of a hub-less gear so that as voltage is applied the CTRA spins. The voltage applied needs to be pulsed and the frequency of the pulses determine the angular frequency of the device. The main objective was to design electromechanical structures capable of transforming the electrical signals into mechanical motion without overheating. The design was optimized using finite element analysis in ANSYS allowing multi-physics simulations of our model system.

Wireless Sensor/Actuator Network Design for Mobile Control Applications

Directory of Open Access Journals (Sweden)

Youxian Sung

2007-10-01

Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

Characterization of electrostatic actuators for suspended mirror control with modulated bias

International Nuclear Information System (INIS)

De Rosa, R; Garufi, F; Milano, L; Mosca, S; Persichetti, G

2010-01-01

Electrostatic actuators are one of the most promising devices for mirror control in advanced gravitational waves detectors. An accurate characterization of such actuators is required for a correct design, able to satisfy the requirement of the control system, both in term of low noise content as well as to fit the required dynamic range. To this aim a simple and effective experimental set-up was developed, consisting in a suspended mirror which displacement, induced by an electrostatic actuator, is measured by using an optical lever. The effect of stray patch charge on the mirror was minimized by using an alternate voltage as bias reference for the actuator. Different working conditions were investigated, in particular by varying the mirror-actuator distance and the bias amplitude. The experimental results were compared to the prediction of a numerical model taking into account the actuator geometry and the working conditions.

Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs

Science.gov (United States)

Anis Atikah, Nurul; Yeng Weng, Leong; Anuar, Adzly; Chien Fat, Chau; Sahari, Khairul Salleh Mohamed; Zainal Abidin, Izham

2017-10-01

Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. This makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. This research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. The peltier device does not actively introduce more energy to a volume of space, which the coiled heating does; instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future.

Experimental verification of displacement control on integrated ionic polymer-metal composite actuators with stochastic on/off controller

Science.gov (United States)

Kimura, Keishiro; Kamamichi, Norihiro

2017-04-01

An ionic polymer-metal composite (IPMC) actuator is one of polymer-based soft actuators. It is produced by chemically plating gold or platinum on both surface of a perfluorosulfonic acid membrane which is known as an ion-exchange membrane. It is able to be activated by a simple driving circuit and generate a large deformation under a low applied voltage (0.5-3 V). However, individual difference and characteristics changes from environmental conditions should be considered for realizing a stable or precise control. To solve these problems, we applied a stochastic ON/OFF controller to an integrated IPMC actuator with parallel connections. The controller consists of a central controller and distributed controllers. The central controller broadcasts a control signal such as an error signal to distributed controllers uniformly. The distributed controllers switch the ON/OFF states based on the broadcasted signal stochastically. The central controller dose not measure the states of each IPMC actuator, and the control signals is calculated by using the output signal of the integrated actuator and reference signal. The validity of the applied method was investigated through numerical simulations and experiments.

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

Servo-Elastic Dynamics of a Hydraulic Actuator Pitching a Blade with Large Deflections

International Nuclear Information System (INIS)

Hansen, M H; Kallesoee, B S

2007-01-01

This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based on the Ziegler-Nichols method. Computed transfer functions from reference to actual pitch angles indicate that the actuator can be approximated as a low-pass filter with some appropriate limitations on pitching speed and acceleration. The structural blade model includes the geometrical coupling of edgewise bending and torsion for large flapwise deflections. This coupling is shown to introduce edgewise bending response for pitch reference oscillations around the natural frequency of the edgewise bending mode, in which frequency range the transfer function from reference to actual pitch angle cannot be modeled as a simple low-pass filter. The pitch bearing is assumed to be frictionless as a first approximation

Enhanced Design of a Soft Thin-Film Vibrotactile Actuator Based on PVC Gel

Directory of Open Access Journals (Sweden)

Won-Hyeong Park

2017-09-01

Full Text Available We fabricated a soft thin-film vibrotactile actuator, which can be easily inserted into wearable devices, based on an electroactive PVC gel. One of the most important factors in fabricating a soft and thin vibrotactile actuator is to create vibrational force strong enough to stimulate human skin in a wide frequency range. To achieve this, we investigate the working principle of the PVC gel and suggest a new structure in which most of electric energy contributes to the deformation of the PVC gel. Due to this structure, the vibrational amplitude of the proposed PVC gel actuator could considerably increase (0.816 g (g = 9.8 m/s2 at resonant frequency. The vibrotactile amplitude is proportional to the amount of input voltage. It increased from 0.05 g up to 0.416 g with increasing applied voltages from 200 V to 1 kV at 1 Hz. The experimental results show that the proposed actuator can create a variety of haptic sensations.

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.

Fabrication of a Miniature Paper-Based Electroosmotic Actuator

Directory of Open Access Journals (Sweden)

Deepa Sritharan

2016-11-01

Full Text Available A voltage-controlled hydraulic actuator is presented that employs electroosmotic fluid flow (EOF in paper microchannels within an elastomeric structure. The microfluidic device was fabricated using a new benchtop lamination process. Flexible embedded electrodes were formed from a conductive carbon-silicone composite. The pores in the layer of paper placed between the electrodes served as the microchannels for EOF, and the pumping fluid was propylene carbonate. A sealed fluid-filled chamber was formed by film-casting silicone to lay an actuating membrane over the pumping liquid. Hydraulic force generated by EOF caused the membrane to bulge by hundreds of micrometers within fractions of a second. Potential applications of these actuators include soft robots and biomedical devices.

PVC gel soft actuator-based wearable assist wear for hip joint support during walking

Science.gov (United States)

Li, Yi; Hashimoto, Minoru

2017-12-01

Plasticized polyvinyl chloride (PVC) gel and mesh electrode-based soft actuators have considerable potential to provide new types of artificial muscle, exhibiting similar responsiveness to biological muscle in air, >10% deformation, >90 kPa output stress, variable stiffness, long cycle life (>5 million cycles), and low power consumption. We have designed and fabricated a prototype of walking assist wear using the PVC gel actuator in previous study. The system has several advantages compared with traditional motor-based exoskeletons, including lower weight and power consumption, and no requirement for rigid external structures that constrain the wearer’s joints. In this study, we designed and established a control and power system to making the whole system portable and wearable outdoors. And we designed two control strategies based on the characteristics of the assist wear and the biological kinematics. In a preliminary experimental evaluation, a hemiparetic stroke patient performed a 10 m to-and-fro straight line walking task with and without assist wear on the affected side. We found that the assist wear enabled natural movement, increasing step length and decreasing muscular activity during straight line walking. We demonstrated that the assistance effect could be adjusted by controlling the on-off time of the PVC gel soft actuators. The results show the effectiveness of the proposed system and suggest the feasibility of PVC gel soft actuators for developing practical soft wearable assistive devices, informing the development of future wearable robots and the other soft actuator technologies for human movement assistance and rehabilitation.

A Preliminary Investigation of Temperature Dependency of a Shape Memory Actuator with Time-Based Control in Aircraft Interiors

Science.gov (United States)

Otibar, Dennis; Weirich, Antonia; Kortenjann, Marcus; Kuhlenkötter, Bernd

2017-06-01

Shape memory alloys (SMA) possess an array of unique functional properties which are influenced by a complex interaction of different factors. Due to thermal sensitivity, slight changes in the environmental temperature may cause the properties to change significantly. This poses a huge challenge especially for the use of SMAs as actuators. The most common and elementary activation strategy of SMA actuators is based on the duration of activation and cooling with constant activation parameters. However, changing environmental influences cause the necessity to modify these parameters. This circumstance needs to be especially considered in the design process of actuator controls. This paper focuses on investigating the influence of environmental temperature changes on time-based activated SMA actuators. The results of the described experiments form the base for designing reactive control strategies for SMA actuators used in alternating environments. An example for application fields with changing environments and particularly changing temperatures are aircraft related implementations. This area also stands to benefit from the actuators’ advantages in ecological efficiency.

Active joint mechanism driven by multiple actuators made of flexible bags: a proposal of dual structural actuator.

Science.gov (United States)

Kimura, Hitoshi; Matsuzaki, Takuya; Kataoka, Mokutaro; Inou, Norio

2013-01-01

An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

Theory of the tensile actuation of fiber reinforced coiled muscles

Science.gov (United States)

Lamuta, C.; Messelot, S.; Tawfick, S.

2018-05-01

There is a strong need for compact artificial muscles capable of applying large contractile strokes and lift heavy weights. Coiled fibers recently emerged as attractive candidates for these purposes, owing to their simple construction and the possibility of their thermal, electrical and chemical actuation. An intuitive theoretical understanding of the mechanics of actuation of these muscles is essential for the enhancement of their performance and can pave the way for the development of new applications and technologies. In this paper, a complete theoretical model for the tensile actuation of fiber reinforced artificial muscles is presented and experimentally validated. The model demonstrates that all muscles made from the same material have a universal behavior, which can be described by a single master curve. It enables the systematic design and understanding of coiled muscles for specific performance owing to a comprehensive mathematical correlation among the geometry, materials properties, and actuation. Carbon fibers (CF)/polydimethylsiloxane coiled muscles are demonstrated as simple to fabricate yet powerful muscles owing to the availability of high strength CF. In addition to showing excellent agreement with the theoretical models, they can be actuated by joule heating or chemical swelling, lift up to 12 600 times their own weight, support up to 60 MPa of mechanical stress, provide tensile strokes higher than 25%, and a specific work up to 758 J kg‑1, the latter is more than 18 times higher than that of natural muscles.

A high resolution pneumatic stepping actuator for harsh reactor environments

Science.gov (United States)

Tippetts, Thomas B.; Evans, Paul S.; Riffle, George K.

1993-01-01

A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991).

Method for driving an actuator, actuator drive, and apparatus comprising an actuator

OpenAIRE

2010-01-01

An actuator driver circuit includes a drive signal source and an electrical damping element having a negative resistance connected in series with the drive signal source. A controllable switch is provided for selectively switching the electrical damping element into or put of a signal path from a drive signal source output to a driver circuit output, in order to selectively change the electrical damping of an actuator. For example, the electrical damping of a radial actuator or a focus actuat...

A study of metalized electrode self-clearing in electroactive polymer (EAP) based actuators

Science.gov (United States)

Ahmed, Saad; Ounaies, Zoubeida

2016-04-01

Electroactive polymer (EAP) based technologies have shown promise in areas such as artificial muscles, actuator, aerospace, medical and soft robotics. Still challenges remain such as low induced forces and defects-driven electrical breakdown, which impede the practical implementation of this technology. Multilayered or stacked configuration can address the low induced force issue whereas self-clearing can be a technique to improve breakdown limit of EAP based actuators. Self-clearing refers to the partial local breakdown of dielectric medium due to the presence of impurities, which in turn results in the evaporation of some of the metalized electrode. After this evaporation, the impurity is cleared and any current path would be safely cut off, which means the actuator continues to perform. It is a widely studied concept in the capacitor community, while it has not been studied much for EAP technologies. In this paper we report a systematic approach to precondition a silver-metalized electroactive polymer (EAP), more specifically P(VDF-TrFE-CTFE) terpolymer, using self-clearing concept. First, we show improvement in the dielectric breakdown strength of EAP based unimorph actuators after pre-clearing the impurities using low electric field (lower than dielectric breakdown of the terpolymer). Inspired by this improvement, we used Weibull statistics to systematically estimate the self-clearing/ preconditioning field needed to clear the defects. Then electrical breakdown experiments are conducted with and without preconditioning the samples to investigate its effect on the breakdown strength of the sample.

Non-linear time variant model intended for polypyrrole-based actuators

Science.gov (United States)

Farajollahi, Meisam; Madden, John D. W.; Sassani, Farrokh

2014-03-01

Polypyrrole-based actuators are of interest due to their biocompatibility, low operation voltage and relatively high strain and force. Modeling and simulation are very important to predict the behaviour of each actuator. To develop an accurate model, we need to know the electro-chemo-mechanical specifications of the Polypyrrole. In this paper, the non-linear time-variant model of Polypyrrole film is derived and proposed using a combination of an RC transmission line model and a state space representation. The model incorporates the potential dependent ionic conductivity. A function of ionic conductivity of Polypyrrole vs. local charge is proposed and implemented in the non-linear model. Matching of the measured and simulated electrical response suggests that ionic conductivity of Polypyrrole decreases significantly at negative potential vs. silver/silver chloride and leads to reduced current in the cyclic voltammetry (CV) tests. The next stage is to relate the distributed charging of the polymer to actuation via the strain to charge ratio. Further work is also needed to identify ionic and electronic conductivities as well as capacitance as a function of oxidation state so that a fully predictive model can be created.

Development of a Simple Structured Artificial Muscle Using SMA Wire

International Nuclear Information System (INIS)

Ibuki, Ryuta; Maruyama, Shigenao; Komiya, Atsuki

2006-01-01

Artificial heart muscle using SMA wire is developed to assist weaken heartbeat. Simple structure design was adopted for large output force, large displacement and rapid cyclic motion of the actuator. The actuator was designed and fabricated from the viewpoint of heat transfer. Moving performance of the actuator was experimentally measured under 10N of loading condition. Under the maximum efficiency condition, the actuator shows cyclic motion with 1mm of displacement and time period of about 2 seconds in one cycle

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Electrical actuation of dielectric droplets

International Nuclear Information System (INIS)

Kumari, N; Bahadur, V; Garimella, S V

2008-01-01

Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-a-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets; however, the actuation of dielectric droplets has remained relatively unexplored, despite the advantages associated with the use of a dielectric droplet. This paper presents modeling and experimental results on the electrical actuation of dielectric droplets between two flat plates. A first-order analytical model, based on the energy-minimization principle, is developed to estimate the electrical actuation force on a dielectric droplet as it moves between two flat plates. Two versions of this analytical model are benchmarked for their suitability and accuracy against a detailed numerical model. The actuation force prediction is then combined with available semi-analytical expressions for predicting the forces opposing droplet motion to develop a model that predicts transient droplet motion under electrical actuation. Electrical actuation of dielectric droplets is experimentally demonstrated by moving transformer oil droplets between two flat plates under the influence of an actuation voltage. Droplet velocities and their dependence on the plate spacing and the applied voltage are experimentally measured and showed reasonable agreement with predictions from the models developed

The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation?

International Nuclear Information System (INIS)

Kofod, Guggi

2008-01-01

It has previously been shown that providing dielectric elastomer actuators with a level of pre-stretch can improve properties such as breakdown strength, actuation strain and efficiency. The actuation in such actuators depends on an interplay between the highly nonlinear hyperelastic stress-strain behaviour with the electrostatic Maxwell's stress; however, the direct effects of pre-stretch on the electromechanical coupling have still not been investigated in detail. We compare several experimental results found in the literature on the hyperelastic parameters of the Ogden model for the commonly used material VHB 4910, and introduce a more detailed and thus more accurate fit to a previous uniaxial stress-strain experiment. Electrostatic actuation models for a pure shear cuboid dielectric elastomer actuator with pre-stretch are introduced, for both intensive and extensive variables. For both intensive and extensive variables the constant strain (blocked stress or force) as well as the actuation strain is presented. It is shown how in the particular case of isotropic amorphous elastomers the pre-stretch does not affect the electromechanical coupling directly, and that the enhancement in actuation strain due to pre-stretch occurs through the alteration of the geometrical dimensions of the actuator. Also, the presence of the optimum load is explained as being due to the plateau region in the force-stretch curve, and it is shown that pre-stretch is not able to affect its position. Finally, it is shown how the simplified Ogden fit leads to entirely different conclusions for actuation strain in terms of extensive variables as does the detailed fit, emphasizing the importance of employing accurate hyperelastic models for the stress-stretch behaviour of the elastomer.

Surface texture change on-demand and microfluidic devices based on thickness mode actuation of dielectric elastomer actuators (DEAs)

Science.gov (United States)

Ankit, Ankit; Nguyen, Anh Chien; Mathews, Nripan

2017-04-01

Tactile feedback devices and microfluidic devices have huge significance in strengthening the area of robotics, human machine interaction and low cost healthcare. Dielectric Elastomer Actuators (DEAs) are an attractive alternative for both the areas; offering the advantage of low cost and simplistic fabrication in addition to the high actuation strains. The inplane deformations produced by the DEAs can be used to produce out-of-plane deformations by what is known as the thickness mode actuation of DEAs. The thickness mode actuation is achieved by adhering a soft passive layer to the DEA. This enables a wide area of applications in tactile applications without the need of complex systems and multiple actuators. But the thickness mode actuation has not been explored enough to understand how the deformations can be improved without altering the material properties; which is often accompanied with increased cost and a trade off with other closely associated material properties. We have shown the effect of dimensions of active region and non-active region in manipulating the out-of-plane deformation. Making use of this, we have been able to demonstrate large area devices and complex patterns on the passive top layer for the surface texture change on-demand applications. We have also been able to demonstrate on-demand microfluidic channels and micro-chambers without the need of actually fabricating the channels; which is a cost incurring and cumbersome process.

Note: A simple vibrating orifice monodisperse droplet generator using a hard drive actuator arm

Energy Technology Data Exchange (ETDEWEB)

Kosch, Sebastian, E-mail: skosch@mie.utoronto.ca, E-mail: ashgriz@mie.utoronto.ca; Ashgriz, Nasser, E-mail: skosch@mie.utoronto.ca, E-mail: ashgriz@mie.utoronto.ca [Department of Industrial and Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8 (Canada)

2015-04-15

We propose that the rotary voice coil actuators found in magnetic hard drives are fit to supercede loudspeakers as expedient vibration sources in the laboratory setting. A specific use case is the excitation of a liquid jet to induce controlled breakup into monodisperse droplets. Like loudspeakers, which are typically used for prototyping such devices, hard drive actuators are cheap and ubiquitous, but they are less unwieldy and supply greater amplitudes without producing noise. Frequencies between 0 and 17 kHz, and likely beyond, can be reproduced reliably. No machining tools or amplifying electronics are needed for the construction and operation of the presented droplet generator.

Characterization​ and ​analysis of ​m​otion ​m​echanism​ of electroactive​ chitosan-based actuator.

Science.gov (United States)

Altınkaya, Emine; Seki, Yoldaş; Çetin, Levent; Gürses, Barış Oğuz; Özdemir, Okan; Sever, Kutlay; Sarıkanat, Mehmet

2018-02-01

In order to analyze the bending mechanism of the electroactive​ chitosan-based actuator, different amounts of poly(diallyldimethylammonium chloride) (PDAD) were incorporated in chitosan solution. The effects of PDAD concentration on electromechanical performance of chitosan actuator were investigated under various excitation voltages. With the incorporation of PDAD into chitosan solution, crosslinked chitosan film acts as an actuator showing a considerable displacement behavior. However it can be noted that higher incorporation of PDAD into chitosan solution decreased the performance of the actuators. Thermal, viscoelastic, and crystallographic properties of the chitosan films were examined by thermogravimetric analysis, dynamic mechanical analysis, and X-ray diffraction analysis, respectively. The effect of incorporation of PDAD in chitosan-based film on morphological properties of chitosan film was determined by scanning electron microscopy. It was observed that the films involving PDAD have larger pore size than the PDAD free film. Copyright © 2017 Elsevier Ltd. All rights reserved.

ToF-SIMS characterization of silk fibroin and polypyrrole composite actuators

Energy Technology Data Exchange (ETDEWEB)

Bradshaw, Nathan P.; Severt, Sean Y.; Wang, Zhaoying; Fengel, Carly V.; Larson, Jesse D.; Zhu, Zihua; Murphy, Amanda R.; Leger., Janelle M.

2015-11-01

Biocompatible materials capable of controlled actuation under biologically relevant conditions are in high demand for use in a number of biomedical applications. Recently, we demonstrated that a composite material composed of silk biopolymer and the conducting polymer poly(pyrrole) can bend under an applied voltage using a simple bilayer device. Here we present further characterization of these bilayer actuators using time of flight secondary ion mass spectrometry, and provide clarification on the mechanism of actuation and factors affecting device performance and stability. We will discuss the results of this study in the context of strategies for optimization of device performance.

Functional materials based on carbon nanotubes: Carbon nanotube actuators and noncovalent carbon nanotube modification

Science.gov (United States)

Fifield, Leonard S.

Carbon nanotubes have attractive inherent properties that encourage the development of new functional materials and devices based on them. The use of single wall carbon nanotubes as electromechanical actuators takes advantage of the high mechanical strength, surface area and electrical conductivity intrinsic to these molecules. The work presented here investigates the mechanisms that have been discovered for actuation of carbon nanotube paper: electrostatic, quantum chemical charge injection, pneumatic and viscoelastic. A home-built apparatus for the measurement of actuation strain is developed and utilized in the investigation. An optical fiber switch, the first demonstrated macro-scale device based on the actuation of carbon nanotubes, is described and its performance evaluated. Also presented here is a new general process designed to modify the surface of carbon nanotubes in a non-covalent, non-destructive way. This method can be used to impart new functionalities to carbon nanotube samples for a variety of applications including sensing, solar energy conversion and chemical separation. The process described involves the achievement of large degrees of graphitic surface coverage with polycyclic aromatic hydrocarbons through the use of supercritical fluids. These molecules are bifunctional agents that anchor a desired chemical group to the aromatic surface of the carbon nanotubes without adversely disrupting the conjugated backbone that gives rise the attractive electronic and physical properties of the nanotubes. Both the nanotube functionalization work and the actuator work presented here emphasize how an understanding and control of nanoscale structure and phenomena can be of vital importance in achieving desired performance for active materials. Opportunities for new devices with improved function over current state-of-the-art can be envisioned and anticipated based on this understanding and control.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Directory of Open Access Journals (Sweden)

Xingjian Wang

2017-10-01

Full Text Available Moving towards the more electric aircraft (MEA, a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA into primary flight control. In the hybrid actuation system (HAS, an electro-hydraulic servo actuator (EHSA and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Science.gov (United States)

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

Control of supersonic axisymmetric base flows using passive splitter plates and pulsed plasma actuators

Science.gov (United States)

Reedy, Todd Mitchell

influenced considerably, the area-integrated pressure was only slightly affected. Normalized RMS levels indicate that base pressure fluctuations were significantly reduced with the addition of the splitter plates. Power-spectral-density estimates revealed a spectral broadening of fluctuating energy for the 1/2 cylinder configuration and a bimodal distribution for the 1/3 and 1/4 cylinder configurations. It was concluded that the recirculation region is not the most sensitive location to apply flow control; rather, the shear layer may be a more influential site for implementing flow control methodologies. For active flow control, pulsed plasma-driven fluidic actuators were investigated. Initially, the performance of two plasma actuator designs was characterized to determine their potential as supersonic flow control devices. For the first actuator considered, the pulsed plasma jet, electro-thermal heating from an electric discharge heats and pressurizes gas in a small cavity which is exhausted through a circular orifice forming a synthetic jet. Depending on the electrical energy addition, peak jet velocities ranged between 130 to nearly 500 m/s when exhausted to quiescent, ambient conditions. The second plasma actuator investigated is the localized arc filament plasma actuator (LAFPA), which created fluidic perturbations through the rapid, local thermal heating, generated from an electric arc discharge between two electrodes within a shallow open cavity. Electrical and emission properties of the LAFPA were first documented as a function of pressure in a quiescent, no-flow environment. Rotational and vibrational temperatures from N2 spectra were obtained for select plasma conditions and ambient pressures. Results further validate that the assumption of optically thin conditions for these electric arc plasmas is not necessary valid, even at low ambient pressure. Breakdown voltage, sustained plasma voltage, power, and energy per pulse were demonstrated to decrease with

Converting Water Adsorption and Capillary Condensation in Usable Forces with Simple Porous Inorganic Thin Films.

Science.gov (United States)

Boudot, Mickael; Elettro, Hervé; Grosso, David

2016-11-22

This work reports an innovative humidity-driven actuation concept based on conversion of chemical energy of adsorption/desorption using simple nanoporous sol-gel silica thin films as humidity-responsive materials. Bilayer-shaped actuators, consisting of a humidity-sensitive active nanostructured silica film deposited on a polymeric substrate (Kapton), were demonstrated as an original mean to convert water molecule adsorption and capillary condensation in usable mechanical work. Reversible solvation stress changes in silica micropores by water adsorption and energy produced by the rigid silica film contraction, induced by water capillary condensation in mesopores, were finely controlled and used as energy sources. The influence of the film nanostructure (microporosity, mesoporosity) and thickness and the polymeric substrate thickness on actuation force, on movement speed and on displacement amplitude are clearly evidenced and discussed. We show that the global mechanical response of such silica-based actuators can easily be adjusted to fabricate tailor-made actuation systems triggered by humidity variation. This study provides insight into hard ceramic stimulus-responsive materials that seem to be a promising alternative to traditional soft organic materials for surface-chemistry-driven actuation systems.

Compact electrostatic comb actuator

Science.gov (United States)

Rodgers, M. Steven; Burg, Michael S.; Jensen, Brian D.; Miller, Samuel L.; Barnes, Stephen M.

2000-01-01

A compact electrostatic comb actuator is disclosed for microelectromechanical (MEM) applications. The actuator is based upon a plurality of meshed electrostatic combs, some of which are stationary and others of which are moveable. One or more restoring springs are fabricated within an outline of the electrostatic combs (i.e. superposed with the moveable electrostatic combs) to considerably reduce the space required for the actuator. Additionally, a truss structure is provided to support the moveable electrostatic combs and prevent bending or distortion of these combs due to unbalanced electrostatic forces or external loading. The truss structure formed about the moveable electrostatic combs allows the spacing between the interdigitated fingers of the combs to be reduced to about one micron or less, thereby substantially increasing the number of active fingers which can be provided in a given area. Finally, electrostatic shields can be used in the actuator to substantially reduce unwanted electrostatic fields to further improve performance of the device. As a result, the compact electrostatic comb actuator of the present invention occupies only a fraction of the space required for conventional electrostatic comb actuators, while providing a substantial increase in the available drive force (up to one-hundred times).

Recession in a linear stepper motor based on piezoelectric actuator and electrorheological clampers

International Nuclear Information System (INIS)

Li, Cuihong; Meng, Yonggang; Tian, Yu

2012-01-01

A linear inchworm-type stepper motor based on piezoelectric actuator and comb shape electrorheological (ER) clampers was developed and tested. A recession phenomenon in the movement of the motor was found and was significantly affected by the driving voltage of the piezoelectric actuator and ER fluids. A dynamic model to analyze the mechanism of the recession was established. The force ratio of the viscoelastic clamping force (applied high electric field) to the viscous damping force (zero field) of ER fluids is the critical factor which determines the recession. The ratio is also affected by the extension or contraction rate of the actuator during movement, which is affected by the charging and discharging processes. With a relatively large distance between the clamper electrodes and a small displacement activated by the extension of the piezoelectric actuator, the instantaneous shear rate might not be sufficiently high, preventing ER fluids from attaining a shear-thickened and high-strength state. The ratio of yield strength to the viscous strength of ER fluids during movement should be as large as possible to reduce the recession displacement. (paper)

Thermally Driven Photonic Actuator Based on Silica Opal Photonic Crystal with Liquid Crystal Elastomer.

Science.gov (United States)

Xing, Huihui; Li, Jun; Shi, Yang; Guo, Jinbao; Wei, Jie

2016-04-13

We have developed a novel thermoresponsive photonic actuator based on three-dimensional SiO2 opal photonic crystals (PCs) together with liquid crystal elastomers (LCEs). In the process of fabrication of such a photonic actuator, the LCE precursor is infiltrated into the SiO2 opal PC followed by UV light-induced photopolymerization, thereby forming the SiO2 opal PC/LCE composite film with a bilayer structure. We find that this bilayer composite film simultaneously exhibits actuation behavior as well as the photonic band gap (PBG) response to external temperature variation. When the SiO2 opal PC/LCE composite film is heated, it exhibits a considerable bending deformation, and its PBG shifts to a shorter wavelength at the same time. In addition, this actuation is quite fast, reversible, and highly repeatable. The thermoresponsive behavior of the SiO2 opal PC/LCE composite films mainly derives from the thermal-driven change of nematic order of the LCE layer which leads to the asymmetric shrinkage/expansion of the bilayer structure. These results will be of interest in designing optical actuator systems for environment-temperature detection.

Neural networks dynamic hysteresis model for piezoceramic actuator based on hysteresis operator of first-order differential equation

International Nuclear Information System (INIS)

Dang Xuanju; Tan Yonghong

2005-01-01

A new neural networks dynamic hysteresis model for piezoceramic actuator is proposed by combining the Preisach model with diagonal recurrent neural networks. The Preisach model is based on elementary rate-independent operators and is not suitable for modeling piezoceramic actuator across a wide frequency band because of the rate-dependent hysteresis characteristic of the piezoceramic actuator. The structure of the developed model is based on the structure of the Preisach model, in which the rate-independent relay hysteresis operators (cells) are replaced by the rate-dependent hysteresis operators of first-order differential equation. The diagonal recurrent neural networks being modified by an adjustable factor can be used to model the hysteresis behavior of the pizeoceramic actuator because its structure is similar to the structure of the modified Preisach model. Therefore, the proposed model not only possesses that of the Preisach model, but also can be used for describing its dynamic hysteresis behavior. Through the experimental results of both the approximation and the prediction, the effectiveness of the neural networks dynamic hysteresis model for the piezoceramic actuator is demonstrated

Electromechanical actuation of buckypaper actuator: Material properties and performance relationships

International Nuclear Information System (INIS)

Cottinet, P.-J.; Souders, C.; Tsai, S.-Y.; Liang, R.; Wang, B.; Zhang, C.

2012-01-01

Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation

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.

Characterization of nonlinear effects in a two-dimensional dielectric elastomer actuator

International Nuclear Information System (INIS)

Jhong, Y; Mikolas, D; Fu, C; Yeh, T; Fang, W; Shaw, D; Chen, J

2010-01-01

Dielectric elastomer actuators (DEAs) possess great potential for the realization of lightweight and inexpensive multiple-degrees-of-freedom (multi-DOF) biomimetic robotics. In this study, a two-dimensional DEA was built and tested in order to characterize the issues associated with the use in multi-DOF actuation. The actuator is a single circular DEA film with four, electrically isolated quadrant electrode areas. The actuator was driven in a quasi-circular manner by applying sine and cosine signals to orthogonal pairs of electrodes, and the resultant motion was recorded using image processing techniques. The effects of nonlinear voltage–strain behavior, creep and stress relaxation on the motion were all pronounced and clearly differentiated. A simple six-parameter empirical model was used and showed excellent agreement with the measured data

Development of a dry actuation conducting polymer actuator for micro-optical zoom lenses

Science.gov (United States)

Kim, Baek-Chul; Kim, Hyunseok; Nguyen, H. C.; Cho, M. S.; Lee, Y.; Nam, Jae-Do; Choi, Hyouk Ryeol; Koo, J. C.; Jeong, H.-S.

2008-03-01

The objective of the present work is to demonstrate the efficiency and feasibility of NBR (Nitrile Butadiene Rubber) based conducting polymer actuator that is fabricated into a micro zoon lens driver. Unlike the traditional conducting polymer that normally operates in a liquid, the proposed actuator successfully provides fairly effective driving performance for the zoom lens system in a dry environment. And this paper is including the experiment results for an efficiency improvement. The result suggested by an experiment was efficient in micro optical zoom lens system. In addition, the developed design method of actuator was given consideration to design the system.

Large Stroke High Fidelity PZN-PT Single-Crystal "Stake" Actuator.

Science.gov (United States)

Huang, Yu; Xia, Yuexue; Lin, Dian Hua; Yao, Kui; Lim, Leong Chew

2017-10-01

A new piezoelectric actuator design, called "Stake" actuator, is proposed and demonstrated in this paper. As an example, the stake actuator is made of four d 32 -mode PZN-5.5%PT single crystals (SCs), each of 25 mm ( L ) ×8 mm ( W ) ×0.4 mm (T) in dimensions, bonded with the aid of polycarbonate edge guide-cum-stiffeners into a square-pipe configuration for improved bending and twisting strengths and capped with top and bottom pedestals made of 1.5-mm-thick anodized aluminum. The resultant stake actuator measured 9 mm ×9 mm ×28 mm. The hollow structure is a key design feature, which optimizes SC usage efficiency and lowers the overall cost of the actuator. The displacement-voltage responses, blocking forces, resonance characteristics of the fabricated stake actuator, as well as the load and temperature effects, are measured and discussed. Since d 32 is negative for [011]-poled SC, the "Stake" actuator contracts in the axial direction when a positive-polarity field is applied to the crystals. Biased drive is thus recommended when extensional displacement is desired. The SC stake actuator has negligible (0.13% when driven up to +300 V (i.e., 0.75 kV/mm), which is close to the rhombohedral-to-orthorhombic transformation field ( E RO ) of 0.85 kV/mm of the SC used. The stake actuator displays a stroke of [Formula: see text] (at +300 V) despite its small overall dimensions, and has a blocking force of 114 N. The SC d 32 stake actuator fabricated displays more than 30% larger axial strain than the state-of-the-art PZT stack actuators of comparable length as well as moderate blocking forces. Said actuators are thus ideal for applications when large displacements with simple open-loop control are preferred.

A multi-segment soft actuator for biomedical applications based on IPMCs

Science.gov (United States)

Zhao, Dongxu; Wang, Yanjie; Liu, Jiayu; Luo, Meng; Li, Dichen; Chen, Hualing

2015-04-01

With rapid progress of biomedical devices towards miniaturization, flexibility, multifunction and low cost, the restrictions of traditional mechanical structures become particularly apparent, while soft materials become research focus in broad fields. As one of the most attractive soft materials, Ionic Polymer-Metal Composite (IPMC) is widely used as artificial muscles and actuators, with the advantages of low driving-voltage, high efficiency of electromechanical transduction and functional stabilization. In this paper, a new intuitive control method was presented to achieve the omnidirectional bending movements and was applied on a representative actuation structure of a multi-degree-offreedom soft actuator composed of two segments bar-shaped IPMC with a square cross section. Firstly, the bar-shaped IPMCs were fabricated by the solution casting method, reducing plating, autocatalytic plating method and cut into shapes successively. The connectors of the multi-segment IPMC actuator were fabricated by 3D printing. Then, a new control method was introduced to realize the intuitive mapping relationship between the actuator and the joystick manipulator. The control circuit was designed and tested. Finally, the multi-degree-of-freedom actuator of 2 segments bar-shaped IPMCs was implemented and omnidirectional bending movements were achieved, which could be a promising actuator for biomedical applications, such as endoscope, catheterism, laparoscopy and the surgical resection of tumors.

Piezoelectric Actuator/Sensor Technology at Rockwell

Science.gov (United States)

Neurgaonkar, Ratnakar R.

1996-01-01

We describe the state-of-the art of piezoelectric materials based on perovskite and tungsten bronze families for sensor, actuator and smart structure applications. The microstructural defects in these materials have been eliminated to a large extent and the resulting materials exhibit exceedingly high performance for various applications. The performance of Rockwell actuators/sensors is at least 3 times better than commercially available products. These high performance actuators are being incorporated into various applications including, DOD, NASA and commercial. The multilayer actuator stacks fabricated from our piezoceramics are advantageous for sensing and high capacitance applications. In this presentation, we will describe the use of our high performance piezo-ceramics for actuators and sensors, including multilayer stacks and composite structures.

Three Flow Features behind the Flow Control Authority of DBD Plasma Actuator: Result of High-Fidelity Simulations and the Related Experiments

Directory of Open Access Journals (Sweden)

Kozo Fujii

2018-04-01

Full Text Available Both computational and experimental studies are conducted for understanding of the flow separation control mechanism of a DBD (dielectric barrier discharge plasma actuator. Low speed flows over an airfoil are considered. A DBD plasma actuator is attached near the leading edge of an airfoil and the mechanism of flow control of this small device is discussed. The DBD plasma actuator, especially in burst mode, is shown to be very effective for controlling flow separation at Reynolds number of 6.3 × 104, when applied to the flows at an angle of attack higher than the stall. The analysis reveals that the flow structure includes three remarkable features that provide good authority for flow separation control with the appropriate actuator parameters. With proper setting of the actuator parameters to enhance the effective flow features for the application, good flow control can be achieved. Based on the analysis, guidelines for the effective use of DBD plasma actuators are proposed. A DBD plasma actuator is also applied to the flows under cruise conditions. With the DBD plasma actuator attached, a simple airfoil turns out to show higher lift-to-drag ratio than a well-designed airfoil.

Actuator with Multi Degrees of Freedom(Actuator)

OpenAIRE

矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所

2006-01-01

The advantages, problems and the recent developments of the actuator with multi degrees of freedom are presented. At first, the advantages of the actuator with multi degrees of freedom are described. Next, the problems needed to solve for practical use are presented. The recent applications of the actuator with multi degrees of freedom are also reviewed.

Compact, planar, translational piezoelectric bimorph actuator with Archimedes’ spiral actuating tethers

International Nuclear Information System (INIS)

Yang, Chenye; Liu, Sanwei; Livermore, Carol; Xie, Xin

2016-01-01

The design, analytical modelling, finite element analysis (FEA), and experimental characterization of a microelectromechanical system (MEMS) out-of-plane (vertical) translational piezoelectric lead–zirconate–titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Three types of bimorph actuators with different electrode patterns (with spiral tethers half actuated, fully actuated with uniform polarity, or fully actuated with reversed polarity) are designed and modelled. The two actuators with the highest predicted performance (half actuated and fully actuated with uniform polarity) are implemented and characterized. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Analytical modelling and FEA are used to analyze and predict the actuators’ displacements and blocking forces. Experimental measurements of the deflections and blocking forces of actuators with full uniform actuation and half actuation validate the design. At an applied voltage of 110 V, the out-of-plane deflections of the actuators with half actuation and full uniform actuation are measured at about 17 µ m and 29 µ m respectively, in good agreement with analytical predictions of 17.3 µ m and 34.2 µ m and FEA predictions of 17.1 µ m and 25.8 µ m. The blocking force for devices with half-actuated tethers is predicted to be 12 mN (analytical) and 10 mN (FEA), close to the experimental value of 9 mN. The blocking force for devices with full uniform actuation is predicted to be 23 mN (analytical) and 17 mN (FEA), as compared with 15 mN in experiments. (paper)

A definition of the degree of controllability - A criterion for actuator placement

Science.gov (United States)

Viswanathan, C. N.; Longman, R. W.; Likins, P. W.

1979-01-01

The unsolved problem of how to control the attitude and shape of future very large flexible satellite structures represents a challenging problem for modern control theory. One aspect of this problem is the question of how to choose the number and locations throughout the spacecraft of the control system actuators. Starting from basic physical considerations, this paper develops a concept of the degree of controllability of a control system, and then develops numerical methods to generate approximate values of the degree of controllability for any spacecraft. These results offer the control system designer a tool which allows him to rank the effectiveness of alternative actuator distributions, and hence to choose the actuator locations on a rational basis. The degree of controllability is shown to take a particularly simple form when the satellite dynamics equations are in modal form. Examples are provided to illustrate the use of the concept on a simple flexible spacecraft.

Thermal Actuation Based 3-DoF Non-Resonant Microgyroscope Using MetalMUMPs

Directory of Open Access Journals (Sweden)

Muhammad Masood ul Hassan

2009-04-01

Full Text Available High force, large displacement and low voltage consumption are a primary concern for microgyroscopes. The chevron-shaped thermal actuators are unique in terms of high force generation combined with the large displacements at a low operating voltage in comparison with traditional electrostatic actuators. A Nickel based 3-DoF micromachined gyroscope comprising 2-DoF drive mode and 1-DoF sense mode oscillator utilizing the chevron-shaped thermal actuators is presented here. Analytical derivations and finite element simulations are carried out to predict the performance of the proposed device using the thermo-physical properties of electroplated nickel. The device sensitivity is improved by utilizing the dynamical amplification of the oscillation in 2-DoF drive mode using an active-passive mass configuration. A comprehensive theoretical description, dynamics and mechanical design considerations of the proposed gyroscopes model are discussed in detail. Parametric optimization of gyroscope, its prototype modeling and fabrication using MetalMUMPs has also been investigated. Dynamic transient simulation results predicted that the sense mass of the proposed device achieved a drive displacement of 4.1µm when a sinusoidal voltage of 0.5V is applied at 1.77 kHz exhibiting a mechanical sensitivity of 1.7μm /o/s in vacuum. The wide bandwidth frequency response of the 2-DoF drive mode oscillator consists of two resonant peaks and a flat region of 2.11 kHz between the peaks defining the operational frequency region. The sense mode resonant frequency can lie anywhere within this region and therefore the amplitude of the response is insensitive to structural parameter variations, enhancing device robustness against such variations. The proposed device has a size of 2.2 x 2.6 mm2, almost one third in comparison with existing M-DoF vibratory gyroscope with an estimated power consumption of 0.26 Watts. These predicted results illustrate that the chevron

Analytical dynamic modeling of fast trilayer polypyrrole bending actuators

International Nuclear Information System (INIS)

Amiri Moghadam, Amir Ali; Moavenian, Majid; Tahani, Masoud; Torabi, Keivan

2011-01-01

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

Improved control of distributed parameter systems using wireless sensor and actuator networks: An observer-based method

International Nuclear Information System (INIS)

Jiang Zheng-Xian; Cui Bao-Tong; Lou Xu-Yang; Zhuang Bo

2017-01-01

In this paper, the control problem of distributed parameter systems is investigated by using wireless sensor and actuator networks with the observer-based method. Firstly, a centralized observer which makes use of the measurement information provided by the fixed sensors is designed to estimate the distributed parameter systems. The mobile agents, each of which is affixed with a controller and an actuator, can provide the observer-based control for the target systems. By using Lyapunov stability arguments, the stability for the estimation error system and distributed parameter control system is proved, meanwhile a guidance scheme for each mobile actuator is provided to improve the control performance. A numerical example is finally used to demonstrate the effectiveness and the advantages of the proposed approaches. (paper)

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.

Pull-in and wrinkling instabilities of electroactive dielectric actuators

International Nuclear Information System (INIS)

De Tommasi, D; Puglisi, G; Zurlo, G; Saccomandi, G

2010-01-01

We propose a model to analyse the insurgence of pull-in and wrinkling failures in electroactive thin films. We take into consideration both cases of voltage and charge control, the role of pre-stretch and the size of activated regions, which are all crucial factors in technological applications of electroactive polymers (EAPs). Based on simple geometrical and material assumptions we deduce an explicit analytical description of these phenomena, allowing a clear physical interpretation of different failure mechanisms such as the occurrence of pull-in and wrinkling. Despite our simple assumptions, the comparison with experiments shows a good qualitative and, interestingly, quantitative agreement. In particular our model shows, in accordance with experiments, the existence of different optimal pre-stretch values, depending on the choice of the actuating parameter of the EAP.

Pull-in and wrinkling instabilities of electroactive dielectric actuators

Energy Technology Data Exchange (ETDEWEB)

De Tommasi, D; Puglisi, G; Zurlo, G [Dipartimento di Ingegneria Civile e Ambientale, Politecnico di Bari, 70125 Bari (Italy); Saccomandi, G [Dipartimento di Ingegneria Industriale, Universita degli Studi di Perugia, 06125 Perugia (Italy)

2010-08-18

We propose a model to analyse the insurgence of pull-in and wrinkling failures in electroactive thin films. We take into consideration both cases of voltage and charge control, the role of pre-stretch and the size of activated regions, which are all crucial factors in technological applications of electroactive polymers (EAPs). Based on simple geometrical and material assumptions we deduce an explicit analytical description of these phenomena, allowing a clear physical interpretation of different failure mechanisms such as the occurrence of pull-in and wrinkling. Despite our simple assumptions, the comparison with experiments shows a good qualitative and, interestingly, quantitative agreement. In particular our model shows, in accordance with experiments, the existence of different optimal pre-stretch values, depending on the choice of the actuating parameter of the EAP.

Low-Power Silicon-based Thermal Sensors and Actuators for Chemical Applications

NARCIS (Netherlands)

Vereshchagina, E.

2011-01-01

In the Hot Silicon project low and ultra-low-power Si-based hot surface devices have been developed, i.e. thermal sensors and actuators, for application in catalytic gas micro sensors, micro- and nano- calorimeters. This work include several scientific and technological aspects: • Design and

A bidirectional shape memory alloy folding actuator

International Nuclear Information System (INIS)

Paik, Jamie K; Wood, Robert J

2012-01-01

This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso- and microscale systems. Despite the advantages of shape memory alloys—high strain, silent operation, and mechanical simplicity—their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180° motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin ( < 1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype. (paper)

Miniature Inchworm Actuators Fabricated by Use of LIGA

Science.gov (United States)

Yang, Eui-Hyeok

2003-01-01

Miniature inchworm actuators that would have relatively simple designs have been proposed for applications in which there are requirements for displacements of the order of microns or tens of microns and for the ability to hold their positions when electric power is not applied. The proposed actuators would be members of the class of microelectromechanical systems (MEMS), but would be designed and fabricated following an approach that is somewhat unusual for MEMS. Like other MEMS actuators, the proposed inchworm actuators could utilize thermoplastic, bimetallic, shape-memory-alloy, or piezoelectric actuation principles. The figure depicts a piezoelectric inchworm actuator according to the proposal. As in other inchworm actuators, linear motion of an extensible member would be achieved by lengthening and shortening the extensible member in synchronism with alternately clamping and releasing one and then the other end of the member. In this case, the moving member would be the middle one; the member would be piezoelectric and would be shortened by applying a voltage to it. The two outer members would also be piezoelectric; the release of the clamps on the upper or lower end would be achieved by applying a voltage to the electrodes on the upper or lower ends, respectively, of these members. Usually, MEMS actuators cannot be fabricated directly on the side walls of silicon wafers, yet the geometry of this actuator necessitates such fabrication. The solution, according to the proposal, would be to use the microfabrication technique known by the German acronym LIGA - "lithographie, galvanoformung, abformung," which means lithography, electroforming, molding. LIGA involves x-ray lithography of a polymer film followed by selective removal of material to form a three-dimensional pattern from which a mold is made. Among the advantages of LIGA for this purpose are that it is applicable to a broad range of materials, can be used to implement a variety of designs, including

A finite element model of rigid body structures actuated by dielectric elastomer actuators

Science.gov (United States)

Simone, F.; Linnebach, P.; Rizzello, G.; Seelecke, S.

2018-06-01

This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.

Optimal reliability design for over-actuated systems based on the MIT rule: Application to an octocopter helicopter testbed

International Nuclear Information System (INIS)

Chamseddine, Abbas; Theilliol, Didier; Sadeghzadeh, Iman; Zhang, Youmin; Weber, Philippe

2014-01-01

This paper addresses the problem of optimal reliability in over-actuated systems. Overloading an actuator decreases its overall lifetime and reduces its average performance over a long time. Therefore, performance and reliability are two conflicting requirements. While appropriate reliability is related to average loads, good performance is related to fast response and sufficient loads generated by actuators. Actuator redundancy allows us to address both performance and reliability at the same time by properly allocating desired loads among redundant actuators. The main contribution of this paper is the on-line optimization of the overall plant reliability according to performance objective using an MIT (Massachusetts Institute of Technology) rule-based method. The effectiveness of the proposed method is illustrated through an experimental application to an octocopter helicopter testbed

The effects of additives on the actuating performances of a dielectric elastomer actuator

International Nuclear Information System (INIS)

Nguyen, Huu Chuc; Doan, Vu Thuy; Park, JongKil; Koo, Ja Choon; Choi, Hyouk Ryeol; Lee, Youngkwan; Nam, Jae-do

2009-01-01

This paper presents a comprehensive study of the effects of additives on the performance of a dielectric elastomer actuator. Previously, a new dielectric elastomer material, called 'synthetic elastomer', was presented for the means of actuation, which permits changes in the mechanical as well as the electrical properties in order to meet the requirements of certain applications. This work studies how the electromechanical properties of the synthetic elastomer can be adjusted by combining two additives, namely dioctyl phthalate (DOP) and titanium dioxide (TiO 2 ). Experiments are carried out and the effects of each additive are compared to one another based on the actuation performances

A self-adaption compensation control for hysteresis nonlinearity in piezo-actuated stages based on Pi-sigma fuzzy neural network

Science.gov (United States)

Xu, Rui; Zhou, Miaolei

2018-04-01

Piezo-actuated stages are widely applied in the high-precision positioning field nowadays. However, the inherent hysteresis nonlinearity in piezo-actuated stages greatly deteriorates the positioning accuracy of piezo-actuated stages. This paper first utilizes a nonlinear autoregressive moving average with exogenous inputs (NARMAX) model based on the Pi-sigma fuzzy neural network (PSFNN) to construct an online rate-dependent hysteresis model for describing the hysteresis nonlinearity in piezo-actuated stages. In order to improve the convergence rate of PSFNN and modeling precision, we adopt the gradient descent algorithm featuring three different learning factors to update the model parameters. The convergence of the NARMAX model based on the PSFNN is analyzed effectively. To ensure that the parameters can converge to the true values, the persistent excitation condition is considered. Then, a self-adaption compensation controller is designed for eliminating the hysteresis nonlinearity in piezo-actuated stages. A merit of the proposed controller is that it can directly eliminate the complex hysteresis nonlinearity in piezo-actuated stages without any inverse dynamic models. To demonstrate the effectiveness of the proposed model and control methods, a set of comparative experiments are performed on piezo-actuated stages. Experimental results show that the proposed modeling and control methods have excellent performance.

Bio-inspired aquatic robotics by untethered piezohydroelastic actuation

International Nuclear Information System (INIS)

Cen, L; Erturk, A

2013-01-01

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. (paper)

Micro-mechanics of ionic electroactive polymer actuators

Science.gov (United States)

Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo

2015-04-01

Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.

Microelectromechanical systems integrating molecular spin crossover actuators

Energy Technology Data Exchange (ETDEWEB)

Manrique-Juarez, Maria D. [LCC, CNRS and Université de Toulouse, UPS, INP, F-31077 Toulouse (France); LAAS, CNRS and Université de Toulouse, INSA, UPS, F-31077 Toulouse (France); Rat, Sylvain; Salmon, Lionel; Molnár, Gábor; Bousseksou, Azzedine, E-mail: liviu.nicu@laas.fr, E-mail: azzedine.bousseksou@lcc-toulouse.fr [LCC, CNRS and Université de Toulouse, UPS, INP, F-31077 Toulouse (France); Mathieu, Fabrice; Saya, Daisuke; Séguy, Isabelle; Leïchlé, Thierry; Nicu, Liviu, E-mail: liviu.nicu@laas.fr, E-mail: azzedine.bousseksou@lcc-toulouse.fr [LAAS, CNRS and Université de Toulouse, INSA, UPS, F-31077 Toulouse (France)

2016-08-08

Silicon MEMS cantilevers coated with a 200 nm thin layer of the molecular spin crossover complex [Fe(H{sub 2}B(pz){sub 2}){sub 2}(phen)] (H{sub 2}B(pz){sub 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 (Δf{sub r} = −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.

Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator

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Keng Huat Koh

2014-06-01

Full Text Available This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force and V (driving voltage within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.

Science.gov (United States)

Koh, Keng Huat; Sreekumar, M; Ponnambalam, S G

2014-06-25

This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F - V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

Data-based fault-tolerant control for affine nonlinear systems with actuator faults.

Science.gov (United States)

Xie, Chun-Hua; Yang, Guang-Hong

2016-09-01

This paper investigates the fault-tolerant control (FTC) problem for unknown nonlinear systems with actuator faults including stuck, outage, bias and loss of effectiveness. The upper bounds of stuck faults, bias faults and loss of effectiveness faults are unknown. A new data-based FTC scheme is proposed. It consists of the online estimations of the bounds and a state-dependent function. The estimations are adjusted online to compensate automatically the actuator faults. The state-dependent function solved by using real system data helps to stabilize the system. Furthermore, all signals in the resulting closed-loop system are uniformly bounded and the states converge asymptotically to zero. Compared with the existing results, the proposed approach is data-based. Finally, two simulation examples are provided to show the effectiveness of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Gallium-Based Room-Temperature Liquid Metals: Actuation and Manipulation of Droplets and Flows

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Leily Majidi

2017-08-01

Full Text Available Gallium-based room-temperature liquid metals possess extremely valuable properties, such as low toxicity, low vapor pressure, and high thermal and electrical conductivity enabling them to become suitable substitutes for mercury and beyond in wide range of applications. When exposed to air, a native oxide layer forms on the surface of gallium-based liquid metals which mechanically stabilizes the liquid. By removing or reconstructing the oxide skin, shape and state of liquid metal droplets and flows can be manipulated/actuated desirably. This can occur manually or in the presence/absence of a magnetic/electric field. These methods lead to numerous useful applications such as soft electronics, reconfigurable devices, and soft robots. In this mini-review, we summarize the most recent progresses achieved on liquid metal droplet generation and actuation of gallium-based liquid metals with/without an external force.

Towards quantitative determination of the spring constant of a scanning force microscope cantilever with a microelectromechanical nano-force actuator

International Nuclear Information System (INIS)

Gao, Sai; Herrmann, Konrad; Zhang, Zhikai; Wu, Yong

2010-01-01

The calibration of the performance of an SFM (scanning force microscope) cantilever has gained more and more interest in the past years, particularly due to increasing applications of SFMs for the determination of the mechanical properties of materials, such as biological structures and organic molecules. In this paper, a MEMS-based nano-force actuator with a force resolution up to nN (10 −9 N) is presented to quantitatively determine the stiffness of an SFM cantilever. The principle, structure design and realization of the nano-force actuator are detailed. Preliminary experiments demonstrate that the long-term self-calibration stability of the actuator is better than 3.7 × 10 −3 N m −1 (1σ) over 1 h. With careful calibration of the stiffness of the actuator, the MEMS actuator has the capability to determine the stiffness of various types of cantilevers (from 100 N m −1 down to 0.1 N m −1 ) with high accuracy. In addition, thanks to the large displacement and force range (up to 8 µm and 1 mN, respectively) of the actuator, the calibration procedure with our MEMS nano-force actuator features simple and active operation, and therefore applicability for different types of quantitative SFMs

Nonlinear dynamic modeling of a V-shaped metal based thermally driven MEMS actuator for RF switches

Science.gov (United States)

Bakri-Kassem, Maher; Dhaouadi, Rached; Arabi, Mohamed; Estahbanati, Shahabeddin V.; Abdel-Rahman, Eihab

2018-05-01

In this paper, we propose a new dynamic model to describe the nonlinear characteristics of a V-shaped (chevron) metallic-based thermally driven MEMS actuator. We developed two models for the thermal actuator with two configurations. The first MEMS configuration has a small tip connected to the shuttle, while the second configuration has a folded spring and a wide beam attached to the shuttle. A detailed finite element model (FEM) and a lumped element model (LEM) are proposed for each configuration to completely characterize the electro-thermal and thermo-mechanical behaviors. The nonlinear resistivity of the polysilicon layer is extracted from the measured current-voltage (I-V) characteristics of the actuator and the simulated corresponding temperatures in the FEM model, knowing the resistivity of the polysilicon at room temperature from the manufacture’s handbook. Both developed models include the nonlinear temperature-dependent material properties. Numerical simulations in comparison with experimental data using a dedicated MEMS test apparatus verify the accuracy of the proposed LEM model to represent the complex dynamics of the thermal MEMS actuator. The LEM and FEM simulation results show an accuracy ranging from a maximum of 13% error down to a minimum of 1.4% error. The actuator with the lower thermal load to air that includes a folded spring (FS), also known as high surface area actuator is compared to the actuator without FS, also known as low surface area actuator, in terms of the I-V characteristics, power consumption, and experimental static and dynamic responses of the tip displacement.

Actuator Placement Via Genetic Algorithm for Aircraft Morphing

Science.gov (United States)

Crossley, William A.; Cook, Andrea M.

2001-01-01

This research continued work that began under the support of NASA Grant NAG1-2119. The focus of this effort was to continue investigations of Genetic Algorithm (GA) approaches that could be used to solve an actuator placement problem by treating this as a discrete optimization problem. In these efforts, the actuators are assumed to be "smart" devices that change the aerodynamic shape of an aircraft wing to alter the flow past the wing, and, as a result, provide aerodynamic moments that could provide flight control. The earlier work investigated issued for the problem statement, developed the appropriate actuator modeling, recognized the importance of symmetry for this problem, modified the aerodynamic analysis routine for more efficient use with the genetic algorithm, and began a problem size study to measure the impact of increasing problem complexity. The research discussed in this final summary further investigated the problem statement to provide a "combined moment" problem statement to simultaneously address roll, pitch and yaw. Investigations of problem size using this new problem statement provided insight into performance of the GA as the number of possible actuator locations increased. Where previous investigations utilized a simple wing model to develop the GA approach for actuator placement, this research culminated with application of the GA approach to a high-altitude unmanned aerial vehicle concept to demonstrate that the approach is valid for an aircraft configuration.

Piezoelectric-hydraulic pump based band brake actuation system for automotive transmission control

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2007-04-01

The actuation system of friction elements (such as band brakes) is essential for high quality operations in modern automotive automatic transmissions (in short, ATs). The current band brake actuation system consists of several hydraulic components, including the oil pump, the regulating valve and the control valves. In general, it has been recognized that the current AT band brake actuation system has many limitations. For example, the oil pump and valve body are relatively heavy and complex. Also, the oil pumps induce inherently large drag torque, which affects fuel economy. This research is to overcome these problems of the current system by exploring the utilization of a hybrid type piezo-hydraulic pump device for AT band brake control. This new actuating system integrates a piezo-hydraulic pump to the input of the band brake. Compared with the current systems, this new actuator features much simpler structure, smaller size, and lower weight. This paper describes the development, design and fabrication of the new stand-alone prototype actuator for AT band brake control. An analytical model is developed and validated using experimental data. Performance tests on the hardware and system simulations utilizing the validated model are performed to characterize the new prototype actuator. It is predicted that with increasing of accumulator pressure and driving frequency, the proposed prototype actuating system will satisfy the band brake requirement for AT shift control.

Simulation of wind turbine wakes using the actuator line technique.

Science.gov (United States)

Sørensen, Jens N; Mikkelsen, Robert F; Henningson, Dan S; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J

2015-02-28

The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Exact analysis of two kinds of piezoelectric actuator

International Nuclear Information System (INIS)

Han Rong; Shi Zhifei

2008-01-01

Two kinds of piezoelectric hollow cylinder actuator are studied in this paper. One is the expansion actuator and the other is the contraction actuator. Using the Airy stress function method, the analytical solutions of these two kinds of actuators are obtained based on the theory of piezo-elasticity. The solutions are compared with numerical results and good agreement is found. Inherent properties of these two kinds of piezoelectric cylinder actuator are presented and discussed. Findings have applications in the field of micromechanics and microengineering

Chained Iron Microparticles for Directionally Controlled Actuation of Soft Robots.

Science.gov (United States)

Schmauch, Marissa M; Mishra, Sumeet R; Evans, Benjamin A; Velev, Orlin D; Tracy, Joseph B

2017-04-05

Magnetic field-directed self-assembly of magnetic particles in chains is useful for developing directionally responsive materials for applications in soft robotics. Using materials with greater complexity allows advanced functions, while still using simple device architectures. Elastomer films containing chained magnetic microparticles were prepared through solvent casting and formed into magnetically actuated lifters, accordions, valves, and pumps. Chaining both enhances actuation and imparts a directional response. Cantilevers used as lifters were able to lift up to 50 times the mass of the polymer film. We introduce the "specific torque", the torque per field per mass of magnetic particles, as a figure of merit for assessing and comparing the performance of lifters and related devices. Devices in this work generated specific torques of 68 Nm/kgT, which is significantly higher than in previously reported actuators. Applying magnetic fields to folded accordion structures caused extension and compression, depending on the accordion's orientation. In peristaltic pumps comprised of composite tubes containing embedded chains, magnetic fields caused a section of the tube to pinch closed where the field was applied. These results will facilitate both the further development of soft robots based on chained magnetic particles and efforts to engineer materials with higher specific torque.

Molecular-channel driven actuator with considerations for multiple configurations and color switching.

Science.gov (United States)

Mu, Jiuke; Wang, Gang; Yan, Hongping; Li, Huayu; Wang, Xuemin; Gao, Enlai; Hou, Chengyi; Pham, Anh Thi Cam; Wu, Lianjun; Zhang, Qinghong; Li, Yaogang; Xu, Zhiping; Guo, Yang; Reichmanis, Elsa; Wang, Hongzhi; Zhu, Meifang

2018-02-09

The ability to achieve simultaneous intrinsic deformation with fast response in commercially available materials that can safely contact skin continues to be an unresolved challenge for artificial actuating materials. Rather than using a microporous structure, here we show an ambient-driven actuator that takes advantage of inherent nanoscale molecular channels within a commercial perfluorosulfonic acid ionomer (PFSA) film, fabricated by simple solution processing to realize a rapid response, self-adaptive, and exceptionally stable actuation. Selective patterning of PFSA films on an inert soft substrate (polyethylene terephthalate film) facilitates the formation of a range of different geometries, including a 2D (two-dimensional) roll or 3D (three-dimensional) helical structure in response to vapor stimuli. Chemical modification of the surface allowed the development of a kirigami-inspired single-layer actuator for personal humidity and heat management through macroscale geometric design features, to afford a bilayer stimuli-responsive actuator with multicolor switching capability.

A soft biomolecule actuator based on a highly functionalized bacterial cellulose nano-fiber network with carboxylic acid groups.

Science.gov (United States)

Wang, Fan; Jeon, Jin-Han; Park, Sukho; Kee, Chang-Doo; Kim, Seong-Jun; Oh, Il-Kwon

2016-01-07

Upcoming human-related applications such as soft wearable electronics, flexible haptic systems, and active bio-medical devices will require bio-friendly actuating materials. Here, we report a soft biomolecule actuator based on carboxylated bacterial cellulose (CBC), ionic liquid (IL), and poly (3,4-ethylenedioxythiophene)-poly(styrenesulfonate) ( PSS) electrodes. Soft and biocompatible polymer-IL composites were prepared via doping of CBC with ILs. The highly conductive PSS layers were deposited on both sides of the CBC-IL membranes by a dip-coating technique to yield a sandwiched actuator system. Ionic conductivity and ionic exchange capacity of the CBC membrane can be increased up to 22.8 times and 1.5 times compared with pristine bacterial cellulose (BC), respectively, resulting in 8 times large bending deformation than the pure BC actuators with metallic electrodes in an open air environment. The developed CBC-IL actuators show significant progress in the development of biocompatible and soft actuating materials with quick response, low operating voltage and comparatively large bending deformation.

High-strain actuator materials based on dielectric elastomers

DEFF Research Database (Denmark)

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

2000-01-01

Dielectric elastomers are a new class of actuator materials that exhibit excellent performance. The principle of operation, as well as methods to fabricate and test these elastomers, is summarized here. The Figure is a sketch of an elastomer film (light gray) stretched on a frame (black) and patt......Dielectric elastomers are a new class of actuator materials that exhibit excellent performance. The principle of operation, as well as methods to fabricate and test these elastomers, is summarized here. The Figure is a sketch of an elastomer film (light gray) stretched on a frame (black...

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

Development of multilayer conducting polymer actuator for power application

Science.gov (United States)

Ikushima, Kimiya; Kudoh, Yuji; Hiraoka, Maki; Yokoyama, Kazuo; Nagamitsu, Sachio

2009-03-01

In late years many kinds of home-use robot have been developed to assist elderly care and housework. Most of these robots are designed with conventional electromagnetic motors. For safety it is desirable to replace these electromagnetic motors with artificial muscle. However, an actuator for such a robot is required to have simple structure, low driving voltage, high stress generation, high durability, and operability in the air. No polymer actuator satisfying all these requirements has been realized yet. To meet these we took following two approaches focusing on conducting polymer actuators which can output high power in the air. (Approach 1) We have newly developed an actuator by multiply laminating ionic liquid infiltrated separators and polypyrrole films. Compared with conventional actuator that is driven in a bath of ionic liquid, the new actuator can greatly increase generated stress since the total sectional area is tremendously small. In our experiment, the new actuator consists of minimum unit with thickness of 128um and has work/weight ratio of 0.92J/kg by laminating 9 units in 0.5Hz driving condition. In addition, the driving experiment has shown a stable driving characteristic even for 10,000 cycles durability test. Furthermore, from our design consideration, it has been found that the work/weight ratio can be improved up to 8J/kg (1/8 of mammalian muscle of 64J/kg) in 0.1Hz by reducing the thickness of each unit to 30um. (Approach 2) In order to realize a simplified actuator structure in the air without sealing, we propose the use of ionic liquid gel. The actuation characteristic of suggested multilayered actuator using ionic liquid gel is simulated by computer. The result shows that performance degradation due to the use of ionic liquid gel is negligible small when ionic liquid gel with the elasticity of 3kPa or less is used. From above two results it is concluded that the proposed multilayerd actuator is promising for the future robotic applications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Directory of Open Access Journals (Sweden)

Alaa Al-Ibadi

2017-10-01

Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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.

Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2009-08-01

In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

International Nuclear Information System (INIS)

Kim, Gi-Woo; Wang, K W

2009-01-01

In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

Models for the control of electric actuators (EGEM, electrical engineering series); Modeles pour la commande des actionneurs electriques (Traite EGEM, serie Genie electrique)

Energy Technology Data Exchange (ETDEWEB)

Louis, J.P.

2004-07-01

The modeling of a system to be automatized is a key step for the determination of the control laws because these laws are based on inverse models deduced from direct models. The ideal example is the DC actuator, the simpleness of which allows to directly shift from the modeling to the control law. For AC actuators, the modeling tools are based on the classical hypotheses: linearity, first harmonics, symmetry. They lead to very efficient models which allow to study the properties in dynamical and permanent regime of the most important actuators: synchronous motors, asynchronous motors, voltage inverters. Some extensions to other kind of machines which does not fulfill the classical hypotheses are also proposed: synchronous machines with non-sinusoidal field distribution and asynchronous machines in saturated regime. (J.S.)

Flight control actuation system

Science.gov (United States)

Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)

2006-01-01

A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.

Experimental and Simulation-Based Investigation of Polycentric Motion of an Inherent Compliant Pneumatic Bending Actuator with Skewed Rotary Elastic Chambers

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André Wilkening

2017-01-01

Full Text Available To offer a functionality that could not be found in traditional rigid robots, compliant actuators are in development worldwide for a variety of applications and especially for human–robot interaction. Pneumatic bending actuators are a special kind of such actuators. Due to the absence of fixed mechanical axes and their soft behavior, these actuators generally possess a polycentric motion ability. This can be very useful to provide an implicit self-alignment to human joint axes in exoskeleton-like rehabilitation devices. As a possible realization, a novel bending actuator (BA was developed using patented pneumatic skewed rotary elastic chambers (sREC. To analyze the actuator self-alignment properties, knowledge about the motion of this bending actuator type, the so-called skewed rotary elastic chambers bending actuator (sRECBA, is of high interest and this paper presents experimental and simulation-based kinematic investigations. First, to describe actuator motion, the finite helical axes (FHA of basic actuator elements are determined using a three-dimensional (3D camera system. Afterwards, a simplified two-dimensional (2D kinematic simulation model based on a four-bar linkage was developed and the motion was compared to the experimental data by calculating the instantaneous center of rotation (ICR. The equivalent kinematic model of the sRECBA was realized using a series of four-bar linkages and the resulting ICR was analyzed in simulation. Finally, the FHA of the sRECBA were determined and analyzed for three different specific motions. The results show that the actuator’s FHA adapt to different motions performed and it can be assumed that implicit self-alignment to the polycentric motion of the human joint axis will be provided.

Piezoelectric Actuator with Frequency Characteristics for a Middle-Ear Implant.

Science.gov (United States)

Shin, Dong Ho; Cho, Jin-Ho

2018-05-24

The design and implementation of a novel piezoelectric-based actuator for an implantable middle-ear hearing aid is described in this paper. The proposed actuator has excellent low-frequency output characteristics, and can generate high output in a specific frequency band by adjusting the mechanical resonance. The actuator consists of a piezoelectric element, a miniature bellows, a cantilever membrane, a metal ring support, a ceramic tip, and titanium housing. The optimal structure of the cantilever-membrane design, which determines the frequency characteristics of the piezoelectric actuator, was derived through finite element analysis. Based on the results, the piezoelectric actuator was implemented, and its performance was verified through a cadaveric experiment. It was confirmed that the proposed actuator provides better performance than currently used actuators, in terms of frequency characteristics.

3D printed soft parallel actuator

Science.gov (United States)

Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif

2018-04-01

This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.

Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation

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R. Vertechy

2013-01-01

Full Text Available Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the visco-hyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.

Self-Sensing Control of Nafion-Based Ionic Polymer-Metal Composite (IPMC Actuator in the Extremely Low Humidity Environment

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Minoru Sasaki

2013-10-01

Full Text Available This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We tried to replicate this controllability in Nafion-based IPMC. We found that the displacement of a Nafion-based IPMC was proportional to the total charge imposed, just as in the Selemion-CMV case. This property is the basis of self-sensing controllers for Nafion-based IPMC bending behavior: we perform bending curvature experiments on Nafion-based IPMCs, obtaining the actuator's dynamics and transfer function. From these, we implemented self-sensing controllers using feedforward, feedback and two-degree-of-freedom techniques. All three controllers performed very well with the Nafion-based IPMC actuator.

Soft Robotic Actuators

Science.gov (United States)

Godfrey, Juleon Taylor

In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.

A biomimetic jellyfish robot based on ionic polymer metal composite actuators

International Nuclear Information System (INIS)

Yeom, Sung-Weon; Oh, Il-Kwon

2009-01-01

A biomimetic jellyfish robot based on ionic polymer metal composite actuators was fabricated and activated to mimic real locomotive behavior with pulse and recovery processes. To imitate the curved shape of the jellyfish, a thermal treatment was applied to obtain a permanent initial deformation of a hemispherical form. The bio-inspired input signal was generated for mimicking real locomotion of the jellyfish. The vertical floating displacement and the thrust force of the biomimetic jellyfish robot under various input signals were measured and compared. The present results show that the bio-inspired electrical input signal with pulse-recovery process generates much higher floating velocity of the biomimetic jellyfish robot in comparison with pure sinusoidal excitations. The curved shape of the IPMC actuator through thermal treatments can be successfully applied to mimic the real biomimetic robots with smooth curves

Force measurements of a magnetic micro actuator proposed for a microvalve array

International Nuclear Information System (INIS)

Chang, Pauline J; Chang, Frank W; Yuen, Michelle C; Horsley, David A; Otillar, Robert

2014-01-01

Low-cost, easily-fabricated and power-efficient microvalves are necessary for many microfluidic lab-on-a-chip applications. In this study, we present a simple, low-power, scalable, CMOS-compatible magnetic actuator for microvalve applications composed of a paramagnetic bead as the ball valve over a picoliter reaction well etched into a silicon substrate. The paramagnetic bead, composed of either pure FeSi or magnetite in a SiO 2  matrix, is actuated by the local magnetic field gradient generated by a microcoil in an aqueous environment, and the reaction well is situated at the microcoil center. A permanent magnet beneath the microvalve device provides an external magnetic biasing field that magnetizes the bead, enabling bidirectional actuation and reducing the current required to actuate the bead to a level below 10 mA. The vertical and radial magnetic forces exerted on the bead by the microcoil were measured for both pure FeSi and composite beads and agree well with the predictions of 2D axisymmetric finite element method models. Vertical forces were within a range of 13–80 nN, and radial forces were 11–60 nN depending on the bead type. The threshold current required to initiate bead actuation was measured as a function of bead diameter and is found to scale inversely with volume for small beads, as expected based on the magnetic force model. To provide an estimate of the stiction force acting between the bead and the passivation layer on the substrate, repeated actuation trials were used to study the bead throw distance for substrates coated with silicon dioxide, Parylene-C, and photoresist. The stiction observed was lowest for a photoresist-coated substrate, while silicon dioxide and Parylene-C coated substrates exhibited similar levels of stiction. (paper)

High-performance hybrid (electrostatic double-layer and faradaic capacitor-based) polymer actuators incorporating nickel oxide and vapor-grown carbon nanofibers.

Science.gov (United States)

Terasawa, Naohiro; Asaka, Kinji

2014-12-02

The electrochemical and electromechanical properties of polymeric actuators prepared using nickel peroxide hydrate (NiO2·xH2O) or nickel peroxide anhydride (NiO2)/vapor-grown carbon nanofibers (VGCF)/ionic liquid (IL) electrodes were compared with actuators prepared using solely VGCFs or single-walled carbon nanotubes (SWCNTs) and an IL. The electrode in these actuator systems is equivalent to an electrochemical capacitor (EC) exhibiting both electrostatic double-layer capacitor (EDLC)- and faradaic capacitor (FC)-like behaviors. The capacitance of the metal oxide (NiO2·xH2O or NiO2)/VGCF/IL electrode is primarily attributable to the EDLC mechanism such that, at low frequencies, the strains exhibited by the NiO2·xH2O/VGCF/IL and NiO2/VGCF/IL actuators primarily result from the FC mechanism. The VGCFs in the NiO2·xH2O/VGCF/IL and NiO2/VGCF/IL actuators strengthen the EDLC mechanism and increase the electroconductivity of the devices. The mechanism underlying the functioning of the NiO2·xH2O/VGCF/IL actuator in which NiO2·xH2O/VGCF = 1.0 was found to be different from that of the devices produced using solely VGCFs or SWCNTs, which exhibited only the EDLC mechanism. In addition, it was found that both NiO2 and VGCFs are essential with regard to producing actuators that are capable of exhibiting strain levels greater than those of SWCNT-based polymer actuators and are thus suitable for practical applications. Furthermore, the frequency dependence of the displacement responses of the NiO2·xH2O/VGCF and NiO2/VGCF polymer actuators were successfully simulated using a double-layer charging kinetic model. This model, which accounted for the oxidization and reduction reactions of the metal oxide, can also be applied to SWCNT-based actuators. The results of electromechanical response simulations for the NiO2·xH2O/VGCF and NiO2/VGCF actuators predicted the strains at low frequencies as well as the time constants of the devices, confirming that the model is applicable

Natural fibres actuators for smart bio-inspired hygromorph biocomposites

Science.gov (United States)

Le Duigou, Antoine; Requile, Samuel; Beaugrand, Johnny; Scarpa, Fabrizio; Castro, Mickael

2017-12-01

Hygromorph biocomposite (HBC) actuators make use of the transport properties of plant fibres to generate an out-of-plane displacement when a moisture gradient is present. HBC actuators possess a design based on the bilayer configuration of natural hygromorph actuators (like pine cone, wheat awn, Selaginella lepidophyll). In this work we present a series of design guidelines for HBCs with improved performance, low environmental footprints and high durability in severe environments. We develop a theoretical actuating response (curvature) formulation of maleic anhydride polypropylene (MAPP)/plant fibres based on bimetallic actuators theory. The actuation response is evaluated as a function of the fibre type (flax, jute, kenaf and coir). We demonstrate that the actuation is directly related to the fibre microstructure and its biochemical composition. The jute and flax fibres appear to be the best candidates for use in HBCs. Flax/MAPP and jute/MAPP HBCs exhibit similar actuating behaviours during the sorption phase (amplitude and speed), but different desorption characteristics due to the combined effect of the lumen size, fibre division and biochemical composition on the desorption mechanism. During hygromechanical fatigue tests the jute/MAPP HBCs exhibit a drastic improvement in durability compared to their flax counterparts. We also provide a demonstration on how HBCs can be used to trigger deployment of more complex structures based on Origami and Kirigami designs.

Honeycomb Actuators Inspired by the Unfolding of Ice Plant Seed Capsules.

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Lorenzo Guiducci

Full Text Available Plant hydro-actuated systems provide a rich source of inspiration for designing autonomously morphing devices. One such example, the pentagonal ice plant seed capsule, achieves complex mechanical actuation which is critically dependent on its hierarchical organization. The functional core of this actuation system involves the controlled expansion of a highly swellable cellulosic layer, which is surrounded by a non-swellable honeycomb framework. In this work, we extract the design principles behind the unfolding of the ice plant seed capsules, and use two different approaches to develop autonomously deforming honeycomb devices as a proof of concept. By combining swelling experiments with analytical and finite element modelling, we elucidate the role of each design parameter on the actuation of the prototypes. Through these approaches, we demonstrate potential pathways to design/develop/construct autonomously morphing systems by tailoring and amplifying the initial material's response to external stimuli through simple geometric design of the system at two different length scales.

SMA spring-based artificial muscle actuated by hot and cool water using faucet-like valve

Science.gov (United States)

Park, Cheol Hoon; Son, Young Su

2017-04-01

An artificial muscle for a human arm-like manipulator with high strain and high power density are under development, and an SMA(Shape memory alloy) spring is a good actuator for this application. In this study, an artificial muscle composed of a silicon tube and a bundle of SMA(Shape memory alloy) springs is evaluated. A bundle of SMA springs consists of five SMA springs which are fabricated by using SMA wires with a diameter of 0.5 mm, and hot and cool water actuates it by heating and cooling SMA springs. A faucet-like valve was also developed to mix hot water and cool water and control the water temperature. The mass of silicon tube and a bundle of SMA springs is only 3.3 g and 2.25 g, respectively, and the total mass of artificial muscle is 5.55 g. It showed good actuating performance for a load with a mass of 2.3 kg and the power density was more than 800 W/kg for continuous valve switching with a cycle of 0.6 s. The faucet-like valve can switch a water output from hot water to cold water within 0.3s, and the artificial muscle is actuated well in response to the valve position and speed. It is also presented that the temperature of the mixed water can be controlled depending on the valve position, and the displacement of the artificial muscle can be controlled well by the mixed water. Based on these results, SMA spring-based artificial muscle actuated by hot and cool water could be applicable to the human arm-like robot manipulators.

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

Science.gov (United States)

Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

2018-04-01

Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

Deflection of Cross-Ply Composite Laminates Induced by Piezoelectric Actuators

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Chi-Sheng Lin

2010-01-01

Full Text Available The coupling effects between the mechanical and electric properties of piezoelectric materials have drawn significant attention for their potential applications as sensors and actuators. In this investigation, two piezoelectric actuators are symmetrically surface bonded on a cross-ply composite laminate. Electric voltages with the same amplitude and opposite sign are applied to the two symmetric piezoelectric actuators, resulting in the bending effect on the laminated plate. The bending moment is derived by using the classical laminate theory and piezoelectricity. The analytical solution of the flexural displacement of the simply supported composite plate subjected to the bending moment is solved by using the plate theory. The analytical solution is compared with the finite element solution to show the validation of present approach. The effects of the size and location of the piezoelectric actuators on the response of the composite laminate are presented through a parametric study. A simple model incorporating the classical laminate theory and plate theory is presented to predict the deformed shape of the simply supported laminate plate.

Parameters design of the dielectric elastomer spring-roll bending actuator (Conference Presentation)

Science.gov (United States)

Li, Jinrong; Liu, Liwu; Liu, Yanju; Leng, Jinsong

2017-04-01

Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

Science.gov (United States)

Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

2015-04-01

Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

Science.gov (United States)

Nguyen, Canh Toan; Phung, Hoa; Dat Nguyen, Tien; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Nam, Jae-do; Ryeol Choi, Hyouk

2014-06-01

A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators.

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

International Nuclear Information System (INIS)

Nguyen, Canh Toan; Phung, Hoa; Nguyen, Tien Dat; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Choi, Hyouk Ryeol; Nam, Jae-do

2014-01-01

A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. (paper)

MEMS fluidic actuator

Science.gov (United States)

Kholwadwala, Deepesh K [Albuquerque, NM; Johnston, Gabriel A [Trophy Club, TX; Rohrer, Brandon R [Albuquerque, NM; Galambos, Paul C [Albuquerque, NM; Okandan, Murat [Albuquerque, NM

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.

Bi-directional series-parallel elastic actuator and overlap of the actuation layers.

Science.gov (United States)

Furnémont, Raphaël; Mathijssen, Glenn; Verstraten, Tom; Lefeber, Dirk; Vanderborght, Bram

2016-01-27

Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to humans. To combine both advantages, the series parallel elastic actuator (SPEA) was developed. The principle is inspired from biological muscles. Muscles are composed of motor units, placed in parallel, which are variably recruited as the required effort increases. This biological principle is exploited in the SPEA, where springs (layers), placed in parallel, can be recruited one by one. This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power consumption. The variable recruitment of the parallel springs can also be tuned in order to further decrease the consumption of the actuator for a given task. First, an explanation of the concept and a brief description of the prior work done will be given. Next, the design and the model of one of the layers will be presented. The working principle of the full actuator will then be given. At the end of this paper, experiments showing the electric consumption of the actuator will display the advantage of the SPEA over an equivalent stiff actuator.

Plant-based torsional actuator with memory

Science.gov (United States)

Nayomi Plaza; Samuel L. Zelinka; Don S. Stone; Joseph E. Jakes

2013-01-01

A bundle of a few loblolly pine (Pinus taeda) cells are moisture-activated torsional actuators that twist multiple revolutions per cm length in direct proportion to moisture content. The bundles generate 10 N m kg􀀀1 specific torque during both twisting and untwisting, which is higher than an electric motor. Additionally, the bundles exhibit a moisture-...

Soft, Rotating Pneumatic Actuator.

Science.gov (United States)

Ainla, Alar; Verma, Mohit S; Yang, Dian; Whitesides, George M

2017-09-01

This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle) and for locomotion that mimics a reptilian gait (by combining four actuators together).

Soft buckling actuators

Energy Technology Data Exchange (ETDEWEB)

Yang, Dian; Whitesides, George M.

2017-12-26

A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.

Design and experimental characterization of a NiTi-based, high-frequency, centripetal peristaltic actuator

International Nuclear Information System (INIS)

Borlandelli, E; Scarselli, D; Bettini, P; Morandini, M; Sala, G; Quadrio, M; Nespoli, A; Rigamonti, D; Villa, E

2015-01-01

Development and experimental testing of a peristaltic device actuated by a single shape-memory NiTi wire are described. The actuator is designed to radially shrink a compliant silicone pipe, and must work on a sustained basis at an actuation frequency that is higher than those typical of NiTi actuators. Four rigid, aluminum-made circular sectors are sitting along the pipe circumference and provide the required NiTi wire housing. The aluminum assembly acts as geometrical amplifier of the wire contraction and as heat sink required to dissipate the thermal energy of the wire during the cooling phase. We present and discuss the full experimental investigation of the actuator performance, measured in terms of its ability to reduce the pipe diameter, at a sustained frequency of 1.5 Hz. Moreover, we investigate how the diameter contraction is affected by various design parameters as well as actuation frequencies up to 4 Hz. We manage to make the NiTi wire work at 3% in strain, cyclically providing the designed pipe wall displacement. The actuator performance is found to decay approximately linearly with actuation frequencies up to 4 Hz. Also, the interface between the wire and the aluminum parts is found to be essential in defining the functional performance of the actuator. (paper)

Performance study of a hydrogen powered metal hydride actuator

International Nuclear Information System (INIS)

Bhuiya, Md Mainul Hossain; Kim, Kwang J

2016-01-01

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 LaNi 5 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. (paper)

Development of Miniature Stewart Platform Using TiNiCu Shape-Memory-Alloy Actuators

Directory of Open Access Journals (Sweden)

Alaa AbuZaiter

2015-01-01

Full Text Available A Stewart platform is a parallel manipulator robot that is able to perform three linear movements, lateral, longitudinal, and vertical, and three rotations, pitch, yaw, and roll. This paper reports a 30 mm × 30 mm × 34 mm miniscale Stewart platform using TiNiCu shape-memory-alloy (SMA actuators. The proposed Stewart platform possesses various advantages, such as large actuation force and high robustness with a simple mechanical structure. This Stewart platform uses four SMA actuators and four bias springs and performs a linear z-axis movement and tilting motions. The SMA actuators are activated by passing a current through the SMA wires using a heating circuit that generates a pulse width modulation (PWM signal. This signal is varied to control the level of the displacement and tilting angle of the platform. The tilting direction depends on the SMA actuator that is activated, while all four SMA actuators are activated to achieve the linear z-axis movement. Each SMA actuator exerts a maximum force of 0.6 N at PWM duty cycle of 100%. The fabricated miniature Stewart platform yields a full actuation of 12 mm in the z-axis at 55°C, with a maximum tilting angle of 30° in 4 s.

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Directory of Open Access Journals (Sweden)

Hao Zheng

2013-11-01

Full Text Available This paper presents a new type of muscle-like actuator, namely double-acting (DA sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.. Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Science.gov (United States)

Zheng, Hao; Shen, Xiangrong

2014-01-01

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability. PMID:25264492

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems.

Science.gov (United States)

Zheng, Hao; Shen, Xiangrong

2013-11-25

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc .). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

Effect of asymmetric actuator and detector position on Coriolis flowmeter and measured phase shift

DEFF Research Database (Denmark)

Enz, Stephanie

2010-01-01

Coriolis flowmeters (CFM) are forced to vibrate by a periodic excitation usually applied midpipe through an electromagnetic actuator. From hands-on experience with industrial CFMs it appears, that the electromagnetic actuator has to be located as symmetric as possible. For CFM design and trouble...... perturbation analysis. The result is a simple analytical expression for the approximated phase shift, which offers a direct insight into how the location of the actuator influences the phase shift. It appears, that asymmetrical forcing combined with fluctuating pipe damping could be a factor contributing...... zero-point stability. The validity of the hypotheses, which are assumed to be basically similar for more complicated geometries, e.g. bended and/or dual pipe CFMs, with or without multiple actuators, is suggested to be tested using laboratory experiments with purpose built non-ideal CFMs....

A multi-electrode and pre-deformed bilayer spring structure electrostatic attractive MEMS actuator with large stroke at low actuation voltage

International Nuclear Information System (INIS)

Hu, Fangrong; Li, Zhi; Xiong, Xianming; Niu, Junhao; Peng, Zhiyong; Qian, Yixian; Yao, Jun

2012-01-01

This paper presents a multi-electrode and pre-deformed bilayer spring structure electrostatic attractive microelectromechanical systems (MEMS) actuator; it has large stroke at relatively low actuation voltage. Generally, electrostatic-attractive-force-based actuators have small stroke due to the instability resulted from the electrostatic ‘pull-in’ phenomenon. However, in many applications, the electrostatic micro-actuator with large stroke at low voltage is more preferred. By introducing a multi-electrode and a pre-deformed bilayer spring structure, an electrostatic attractive MEMS actuator with large stroke at very low actuation voltage has been successfully demonstrated in this paper. The actuator contains a central plate with a size of 300 µm × 300 µm × 1.5 µm and it is supported by four L-shaped bilayer springs which are pre-deformed due to residual stresses. Each bilayer spring is simultaneously attracted by three adjacent fixed electrodes, and the factors affecting the electrostatic attractive force are analyzed by a finite element analysis method. The prototype of the actuator is fabricated by poly-multi-user-MEMS-process (PolyMUMP) and the static performance is tested using a white light interferometer. The measured stroke of the actuator reaches 2 µm at 13 V dc, and it shows a good agreement with the simulation. (paper)

Centrifugal forming and mechanical properties of silicone-based elastomers for soft robotic actuators

Science.gov (United States)

Kulkarni, Parth

This thesis describes the centrifugal forming and resulting mechanical properties of silicone-based elastomers for the manufacture of soft robotic actuators. This process is effective at removing bubbles that get entrapped within 3D-printed, enclosed molds. Conventional methods for rapid prototyping of soft robotic actuators to remove entrapped bubbles typically involve degassing under vacuum, with open-faced molds that limit the layout of formed parts to raised 2D geometries. As the functionality and complexity of soft robots increase, there is a need to mold complete 3D structures with controlled thicknesses or curvatures on multiples surfaces. In addition, characterization of the mechanical properties of common elastomers for these soft robots has lagged the development of new designs. As such, relationships between resulting material properties and processing parameters are virtually non-existent. One of the goals of this thesis is to provide guidelines and physical insights to relate the design, processing conditions, and resulting properties of soft robotic components to each other. Centrifugal forming with accelerations on the order of 100 g's is capable of forming bubble-free, true 3D components for soft robotic actuators, and resulting demonstrations in this work include an aquatic locomotor, soft gripper, and an actuator that straightens when pressurized. Finally, this work shows that the measured mechanical properties of 3D geometries fabricated within enclosed molds through centrifugal forming possess comparable mechanical properties to vacuumed materials formed from open-faced molds with raised 2D features.

Recurrent-neural-network-based identification of a cascade hydraulic actuator for closed-loop automotive power transmission control

International Nuclear Information System (INIS)

You, Seung Han; Hahn, Jin Oh

2012-01-01

By virtue of its ease of operation compared with its conventional manual counterpart, automatic transmissions are commonly used as automotive power transmission control system in today's passenger cars. In accordance with this trend, research efforts on closed-loop automatic transmission controls have been extensively carried out to improve ride quality and fuel economy. State-of-the-art power transmission control algorithms may have limitations in performance because they rely on the steady-state characteristics of the hydraulic actuator rather than fully exploit its dynamic characteristics. Since the ultimate viability of closed-loop power transmission control is dominated by precise pressure control at the level of hydraulic actuator, closed-loop control can potentially attain superior efficacy in case the hydraulic actuator can be easily incorporated into model-based observer/controller design. In this paper, we propose to use a recurrent neural network (RNN) to establish a nonlinear empirical model of a cascade hydraulic actuator in a passenger car automatic transmission, which has potential to be easily incorporated in designing observers and controllers. Experimental analysis is performed to grasp key system characteristics, based on which a nonlinear system identification procedure is carried out. Extensive experimental validation of the established model suggests that it has superb one-step-ahead prediction capability over appropriate frequency range, making it an attractive approach for model-based observer/controller design applications in automotive systems

Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface.

Science.gov (United States)

Kim, Seung-Won; Koh, Je-Sung; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo; Cho, Kyu-Jin

2014-09-01

The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m(-1) within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position.

Actuator Placement in Multi-Degree-of-Freedom Vibration Simulators

Directory of Open Access Journals (Sweden)

Norman Fitz-Coy

1994-01-01

Full Text Available A method for comparing candidate actuator configurations for multi-degree-of-freedom (MDOF vibration simulators is presented. The method has its roots in the comparison of achievable subspaces and maximum error bounds; the comparison is accomplished via a QR decomposition. In instances where two configurations yield the same error bound, the ratio of the largest to smallest singular value is used to determine the “best” configuration. Both amplitude bounds at given sensor locations and relative significance of each sensor's output, if known, can be incorporated in the analysis. Through numerical examples, it is demonstrated that no simple rule of thumb criterion appears to exist for the selection of actuator placement in MDOF vibration simulators.

Towards a digital sound reconstruction MEMS device: Characterization of a single PZT based piezoelectric actuator

KAUST Repository

Carreno, Armando Arpys Arevalo; Conchouso Gonzalez, David; Castro, David; Jaber, Nizar; Younis, Mohammad I.; Foulds, Ian G.

2015-01-01

of acoustic actuators. These actuators consist of a flexible membrane fabricated using polyimide, which is actuated using a Lead-Zirconate-Titanate (PZT) piezoelectric ceramic layer working in the d31 actuation mode. The dimensions of the membrane are of 1mm

An electromagnetically actuated fiber optic switch using magnetized ferromagnetic materials

Science.gov (United States)

Pandojirao-S, Praveen; Dhaubanjar, Naresh; Phuyal, Pratibha C.; Chiao, Mu; Chiao, J.-C.

2008-03-01

This paper presents the design, fabrication and testing of a fiber optic switch actuated electromagnetically. The ferromagnetic gel coated optical fiber is actuated using external electromagnetic fields. The ferromagnetic gel consists of ferromagnetic powders dispersed in epoxy. The fabrication utilizes a simple cost-effective coating setup. A direct fiberto-fiber alignment eliminates the need for complementary optical parts and the displacement of fiber switches the laser coupling. The magnetic characteristics of magnetized ferromagnetic materials are performed using alternating gradient magnetometer and the magnetic hysteresis curves are measured for different ferromagnetic materials including iron, cobalt, and nickel. Optical fiber switches with various fiber lengths are actuated and their static and dynamic responses for the same volume of ferromagnetic gel are summarized. The highest displacement is 1.345 mm with an input current of 260mA. In this paper, the performance of fiber switches with various coating materials is presented.

Dielectric Actuation of Polymers

Science.gov (United States)

Niu, Xiaofan

in tactile display is investigated by the prototyping of a large scale refreshable Braille display device. Braille is a critical way for the vision impaired community to learn literacy and improve life quality. Current piezoelectrics-based refreshable Braille display technologies are limited to up to 1 line of Braille text, due to the bulky size of bimorph actuators. Based on the unique actuation feature of BSEP, refreshable Braille display devices up to smartphone-size have been demonstrated by polymer sheet laminates. Dots in the devices can be individually controlled via incorporated field-driven BSEP actuators and Joule heater units. A composite material consisting of silver nanowires (AgNW) embedded in a polymer substrate is brought up as a compliant electrode candidate for BSEP application. The AgNW composite is highly conductive (Rs: 10 Ω/sq) and remains conductive at strains as high as 140% (Rs: <10 3 Ω/sq). The baseline conductivity has only small changes up to 90% strain, which makes it low enough for both field driving and stretchable Joule heating. An out-of-plane bistable area strain up to 68% under Joule heating is achieved.

Characteristics Analysis and Testing of SMA Spring Actuator

Directory of Open Access Journals (Sweden)

Jianzuo Ma

2013-01-01

Full Text Available The biasing form two-way shape memory alloy (SMA actuator composed of SMA spring and steel spring is analyzed. Based on the force equilibrium equation, the relationship between load capacity of SMA spring and geometric parameters is established. In order to obtain the characteristics of SMA spring actuator, the output force and output displacement of SMA spring under different temperatures are analyzed by the theoretical model and the experimental method. Based on the shape memory effect of SMA, the relationship of the SMA spring actuator's output displacement with the temperature, the stress and strain, the material parameters, and the size parameters is established. The results indicate that the trend of theoretical results is basically consistent with the experimental data. The output displacement of SMA spring actuator is increased with the increasing temperature.

Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik

1997-01-01

The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

A Uniform Energy Consumption Algorithm for Wireless Sensor and Actuator Networks Based on Dynamic Polling Point Selection

Science.gov (United States)

Li, Shuo; Peng, Jun; Liu, Weirong; Zhu, Zhengfa; Lin, Kuo-Chi

2014-01-01

Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data collection delay constraints, planning the path of the actuator is a very important issue to balance the prolongation of the network lifetime and the reduction of the data collection delay. In this paper, a multi-hop routing mobile data collection algorithm is proposed based on dynamic polling point selection with delay constraints to address this issue. The algorithm can actively update the selection of the actuator's polling points according to the sensor nodes' residual energies and their locations while also considering the collection delay constraint. It also dynamically constructs the multi-hop routing trees rooted by these polling points to balance the sensor node energy consumption and the extension of the network lifetime. The effectiveness of the algorithm is validated by simulation. PMID:24451455

Mathematical modeling of a V-stack piezoelectric aileron actuation

Directory of Open Access Journals (Sweden)

Ioan URSU

2016-12-01

Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.

Devising Mobile Sensing and Actuation Infrastructure with Drones

Directory of Open Access Journals (Sweden)

Mungyu Bae

2018-02-01

Full Text Available Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN. In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG, which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors’ data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT.

Devising Mobile Sensing and Actuation Infrastructure with Drones

Science.gov (United States)

Jung, Jongtack; Park, Seongjoon; Kim, Kangho; Lee, Joon Yeop

2018-01-01

Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN). In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG), which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors’ data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT). PMID:29463064

Devising Mobile Sensing and Actuation Infrastructure with Drones.

Science.gov (United States)

Bae, Mungyu; Yoo, Seungho; Jung, Jongtack; Park, Seongjoon; Kim, Kangho; Kim, Joon Yeop Lee; Kim, Hwangnam

2018-02-19

Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN). In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG), which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors' data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT).

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.

Electrically controllable twisted-coiled artificial muscle actuators using surface-modified polyester fibers

Science.gov (United States)

Park, Jungwoo; Yoo, Ji Wang; Seo, Hee Won; Lee, Youngkwan; Suhr, Jonghwan; Moon, Hyungpil; Koo, Ja Choon; Ryeol Choi, Hyouk; Hunt, Robert; Kim, Kwang Jin; Kim, Soo Hyun; Nam, Jae-Do

2017-03-01

As a new class of thermally activated actuators based on polymeric fibers, we investigated polyethylene terephthalate (PET) yarns for the development of a twisted-coiled polymer fiber actuator (TCA). The PET yarn TCA exhibited the maximum linear actuation up to 8.9% by external heating at above the glass transition temperature, 160 °C-180 °C. The payload of the actuator was successfully correlated with the preload and training-load conditions by an empirical equation. Furthermore, the PET-based TCA was electrically driven by Joule heating after the PET surface was metallization with silver. For the fast and precise control of PET yarn TCA, electroless silver plating was conducted to form electrical conductive layers on the PET fiber surface. The silver plated PET-based TCA was tested by Joule heating and the tensile actuation was increased up to 12.1% (6 V) due to the enhanced surface hardness and slippage of PET fibers. Overall, silver plating of the polymeric yarn provided a fast actuation speed and enhanced actuation performance of the TCA actuator by Joule heating, providing a great potential for being used in artificial muscle for biomimetic machines including robots, industrial actuators and powered exoskeletons.

Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface

International Nuclear Information System (INIS)

Kim, Seung-Won; Koh, Je-Sung; Cho, Kyu-Jin; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo

2014-01-01

The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m −1  within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position. (paper)

A wireless actuating drug delivery system

International Nuclear Information System (INIS)

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

2015-01-01

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. (paper)

Hysteresis modeling of magnetic shape memory alloy actuator based on Krasnosel'skii-Pokrovskii model.

Science.gov (United States)

Zhou, Miaolei; Wang, Shoubin; Gao, Wei

2013-01-01

As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.

Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model

Directory of Open Access Journals (Sweden)

Miaolei Zhou

2013-01-01

Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.

Sealing-free fast-response paraffin/nanoporous gold hybrid actuator

Science.gov (United States)

Ye, Xing-Long; Jin, Hai-Jun

2017-09-01

Paraffin-based actuators can deliver large actuation strokes and high actuation stress, but often suffer from a low response rate and leaking problems. Here, we report a new paraffin/metal hybrid actuator, which was fabricated by infiltrating nanoporous gold with paraffin. It exhibits a fast actuation rate owing to the high thermal conductivity of the inter-connected metal phase, and requires no external sealing because liquid paraffin can be well confined in nanoscale channels, due to the large capillarity. We found that in this hybrid actuator, the stress generated by actuation is negligibly small when the characteristic size of the nanoporous gold (L) is above ˜70 nm, and increases dramatically with a decreasing size when L paraffin wax—the paraffin in smaller pores can sustain larger tensile stress, and thus the contraction of paraffin during cooling can be translated into larger compression stress and strain energy in a metal framework, leading to a larger actuation stress and energy. We also demonstrate that complex actuation motions can be achieved by incorporating hierarchical-structured nanoporous metal with paraffin.

Hydrodynamic analysis, performance assessment, and actuator design of a flexible tail propulsor in an artificial alligator

International Nuclear Information System (INIS)

Philen, Michael; Neu, Wayne

2011-01-01

The overall objective of this research is to develop analysis tools for determining actuator requirements and assessing viable actuator technology for design of a flexible tail propulsor in an artificial alligator. A simple hydrodynamic model that includes both reactive and resistive forces along the tail is proposed and the calculated mean thrust agrees well with conventional estimates of drag. Using the hydrodynamic model forces as an input, studies are performed for an alligator ranging in size from 1 cm to 2 m at swimming speeds of 0.3–1.8 body lengths per second containing five antagonistic pairs of actuators distributed along the length of the tail. Several smart materials are considered for the actuation system, and preliminary analysis results indicate that the acrylic electroactive polymer and the flexible matrix composite actuators are potential artificial muscle technologies for the system

Improved actuation strain of PDMS-based DEA materials chemically modified with softening agents

Science.gov (United States)

Biedermann, Miriam; Blümke, Martin; Wegener, Michael; Krüger, Hartmut

2015-04-01

Dielectric elastomer actuators (DEAs) are smart materials that gained much in interest particularly in recent years. One active field of research is the improvement of their properties by modification of their structural framework. The object of this work is to improve the actuation properties of polydimethylsiloxane (PDMS)-based DEAs by covalent incorporation of mono-vinyl-terminated low-molecular PDMS chains into the PDMS network. These low-molecular units act as a kind of softener within the PDMS network. The loose chain ends interfere with the network formation and lower the network's density. PDMS films with up to 50wt% of low-molecular PDMS additives were manufactured and the chemical, mechanical, electrical, and electromechanical properties of these novel materials were investigated.

The effect of carbon nanofillers on the performance of electromechanical polyaniline-based composite actuators

International Nuclear Information System (INIS)

García-Gallegos, J C; Martín-Gullón, I; Conesa, J A; Vega-Cantú, Y I; Rodríguez-Macías, F J

2016-01-01

Different types of crystalline carbon nanomaterials were used to reinforce polyaniline for use in electromechanical bilayer bending actuators. The objective is to analyze how the different graphitic structures of the nanocarbons affect and improve the in situ polymerized polyaniline composites and their subsequent actuator behavior. The nanocarbons investigated were multiwalled carbon nanotubes, nitrogen-doped carbon nanotubes, helical-ribbon carbon nanofibers and graphene oxide, each one presenting different shape and structural characteristics. Films of nanocarbon-PAni composite were tested in a liquid electrolyte cell system. Experimental design was used to select the type of nanocarbon filler and composite loadings, and yielded a good balance of electromechanical properties. Raman spectroscopy suggests good interaction between PAni and the nanocarbon fillers. Electron microscopy showed that graphene oxide dispersed the best, followed by multiwall carbon nanotubes, while nitrogen-doped nanotube composites showed dispersion problems and thus poor performance. Multiwall carbon nanotube composite actuators showed the best performance based on the combination of bending angle, bending velocity and maximum working cycles, while graphene oxide attained similarly good performance due to its best dispersion. This parallel testing of a broad set of nanocarbon fillers on PAni-composite actuators is unprecedented to the best of our knowledge and shows that the type and properties of the carbon nanomaterial are critical to the performance of electromechanical devices with other conditions remaining equal. (paper)

Large angle and high linearity two-dimensional laser scanner based on voice coil actuators

Science.gov (United States)

Wu, Xin; Chen, Sihai; Chen, Wei; Yang, Minghui; Fu, Wen

2011-10-01

A large angle and high linearity two-dimensional laser scanner with an in-house ingenious deflection angle detecting system is developed based on voice coil actuators direct driving mechanism. The specially designed voice coil actuators make the steering mirror moving at a sufficiently large angle. Frequency sweep method based on virtual instruments is employed to achieve the natural frequency of the laser scanner. The response shows that the performance of the laser scanner is limited by the mechanical resonances. The closed-loop controller based on mathematical model is used to reduce the oscillation of the laser scanner at resonance frequency. To design a qualified controller, the model of the laser scanner is set up. The transfer function of the model is identified with MATLAB according to the tested data. After introducing of the controller, the nonlinearity decreases from 13.75% to 2.67% at 50 Hz. The laser scanner also has other advantages such as large deflection mirror, small mechanical structure, and high scanning speed.

Red-light-controllable liquid-crystal soft actuators via low-power excited upconversion based on triplet-triplet annihilation.

Science.gov (United States)

Jiang, Zhen; Xu, Ming; Li, Fuyou; Yu, Yanlei

2013-11-06

A red-light-controllable soft actuator has been achieved, driven by low-power excited triplet-triplet annihilation-based upconversion luminescence (TTA-UCL). First, a red-to-blue TTA-based upconversion system with a high absolute quantum yield of 9.3 ± 0.5% was prepared by utilizing platinum(II) tetraphenyltetrabenzoporphyrin (PtTPBP) as the sensitizer and 9,10-bis(diphenylphosphoryl)anthracene (BDPPA) as the annihilator. In order to be employed as a highly effective phototrigger of photodeformable cross-linked liquid-crystal polymers (CLCPs), the PtTPBP&BDPPA system was incorporated into a rubbery polyurethane film and then assembled with an azotolane-containing CLCP film. The generating assembly film bent toward the light source when irradiated with a 635 nm laser at low power density of 200 mW cm(-2) because the TTA-UCL was effectively utilized by the azotolane moieties in the CLCP film, inducing their trans-cis photoisomerization and an alignment change of the mesogens via an emission-reabsorption process. It is the first example of a soft actuator in which the TTA-UCL is trapped and utilized to create photomechanical effect. Such advantages of using this novel red-light-controllable soft actuator in potential biological applications have also been demonstrated as negligible thermal effect and its excellent penetration ability into tissues. This work not only provides a novel photomanipulated soft actuation material system based on the TTA-UCL technology but also introduces a new technological application of the TTA-based upconversion system in photonic devices.

PZT crack detection in suspension-based dual stage actuator [for HDDs

CERN Document Server

Yung Ping Yeh; Ku, C

2000-01-01

An impedance method is proposed to detect cracks of PZT bars in suspension based dual stage-actuators. The frequency response amplitude of impedance at the resonance of 1.95 MHz, the PZT bar width extension mode, was very sensitive to the cracks in PZT material. As cracks in the PZT bars propagated from invisible micro cracks to visible macro cracks, the impedance gain at 1.95 MHz dropped suddenly. (3 refs).

Epoxy-Based Shape-Memory Actuators Obtained via Dual-Curing of Off-Stoichiometric “Thiol–Epoxy” Mixtures

Directory of Open Access Journals (Sweden)

Alberto Belmonte

2017-03-01

Full Text Available In this work, epoxy-based shape-memory actuators have been developed by taking advantage of the sequential dual-curing of off-stoichiometric “thiol–epoxy” systems. Bent-shaped designs for flexural actuation were obtained thanks to the easy processing of these materials in the intermediate stage (after the first curing process, and successfully fixed through the second curing process. The samples were programmed into a flat temporary-shape and the recovery-process was analyzed in unconstrained, partially-constrained and fully-constrained conditions using a dynamic mechanical analyzer (DMA. Different “thiol–epoxy” systems and off-stoichiometric ratios were used to analyze the effect of the network structure on the actuation performance. The results evidenced the possibility to take advantage of the flexural recovery as a potential actuator, the operation of which can be modulated by changing the network structure and properties of the material. Under unconstrained-recovery conditions, faster and narrower recovery-processes (an average speed up to 80%/min are attained by using materials with homogeneous network structure, while in partially- or fully-constrained conditions, a higher crosslinking density and the presence of crosslinks of higher functionality lead to a higher amount of energy released during the recovery-process, thus, increasing the work or the force released. Finally, an easy approach for the prediction of the work released by the shape-memory actuator has been proposed.

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.

Dielectric elastomer actuators for octopus inspired suction cups

International Nuclear Information System (INIS)

Follador, M; Tramacere, F; Mazzolai, B

2014-01-01

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)

Robust, Flexible and Lightweight Dielectric Barrier Discharge Actuators Using Nanofoams/Aerogels

Science.gov (United States)

Sauti, Godfrey (Inventor); Xu, Tian-Bing (Inventor); Siochi, Emilie J. (Inventor); Wilkinson, Stephen P. (Inventor); Meador, Mary Ann B. (Inventor); Guo, Haiquan N. (Inventor)

2015-01-01

Robust, flexible, lightweight, low profile enhanced performance dielectric barrier discharge actuators (plasma actuators) based on aerogels/nanofoams with controlled pore size and size distribution as well as pore shape. The plasma actuators offer high body force as well as high force to weight ratios (thrust density). The flexibility and mechanical robustness of the actuators allows them to be shaped to conform to the surface to which they are applied. Carbon nanotube (CNT) based electrodes serve to further decrease the weight and profile of the actuators while maintaining flexibility while insulating nano-inclusions in the matrix enable tailoring of the mechanical properties. Such actuators are required for flow control in aeronautics and moving machinery such as wind turbines, noise abatement in landing gear and rotary wing aircraft and other applications.

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.

Refreshable Braille Displays Using EAP Actuators

Science.gov (United States)

Bar-Cohen, Yoseph

2010-01-01

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..

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

KAUST Repository

Rawashdeh, E.; Karam, A.; Foulds, Ian G.

2012-01-01

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.

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.

Development of a soft untethered robot using artificial muscle actuators

Science.gov (United States)

Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

2017-04-01

Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

Adaptive sliding mode control of tri-layer conjugated polymer actuators

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

2013-01-01

This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets.

Science.gov (United States)

Bradley, Stuart

2015-11-20

Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an "actuator" interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator "firings") to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a "cost function" is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.

Saturated poroelastic actuators generated by topology optimization

DEFF Research Database (Denmark)

Andreasen, Casper Schousboe; Sigmund, Ole

2011-01-01

the coupling of internal fluid pressure and elastic shear stresses a slab of the optimized porous material deflects/deforms when a pressure is imposed and an actuator is created. Several phenomenologically based constraints are imposed in order to get a stable force transmitting actuator.......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 maximizing...

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

Science.gov (United States)

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

Directory of Open Access Journals (Sweden)

Miaolei Zhou

Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

Science.gov (United States)

Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

2014-01-01

As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

A magnetorheological actuation system: test and model

International Nuclear Information System (INIS)

John, Shaju; Chaudhuri, Anirban; Wereley, Norman M

2008-01-01

Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data

Rise time reduction of thermal actuators operated in air and water through optimized pre-shaped open-loop driving

International Nuclear Information System (INIS)

Larsen, T; Doll, J C; Loizeau, F; Pruitt, B L; Hosseini, N; Fantner, G E; Peng, A W; Ricci, A J

2017-01-01

Electrothermal actuators have many advantages compared to other actuators used in micro-electro-mechanical systems (MEMS). They are simple to design, easy to fabricate and provide large displacements at low voltages. Low voltages enable less stringent passivation requirements for operation in liquid. Despite these advantages, thermal actuation is typically limited to a few kHz bandwidth when using step inputs due to its intrinsic thermal time constant. However, the use of pre-shaped input signals offers a route for reducing the rise time of these actuators by orders of magnitude. We started with an electrothermally actuated cantilever having an initial 10–90% rise time of 85 μ s in air and 234 μ s in water for a standard open-loop step input. We experimentally characterized the linearity and frequency response of the cantilever when operated in air and water, allowing us to obtain transfer functions for the two cases. We used these transfer functions, along with functions describing desired reduced rise-time system responses, to numerically simulate the required input signals. Using these pre-shaped input signals, we improved the open-loop 10–90% rise time from 85 μ s to 3 μ s in air and from 234 μ s to 5 μ s in water, an improvement by a factor of 28 and 47, respectively. Using this simple control strategy for MEMS electrothermal actuators makes them an attractive alternative to other high speed micromechanical actuators such as piezoelectric stacks or electrostatic comb structures which are more complex to design, fabricate, or operate. (paper)

Rise Time Reduction of Thermal Actuators Operated in Air and Water through Optimized Pre-Shaped Open-Loop Driving.

Science.gov (United States)

Larsen, T; Doll, J C; Loizeau, F; Hosseini, N; Peng, A W; Fantner, G; Ricci, A J; Pruitt, B L

2017-01-01

Electrothermal actuators have many advantages compared to other actuators used in Micro-Electro-Mechanical Systems (MEMS). They are simple to design, easy to fabricate and provide large displacements at low voltages. Low voltages enable less stringent passivation requirements for operation in liquid. Despite these advantages, thermal actuation is typically limited to a few kHz bandwidth when using step inputs due to its intrinsic thermal time constant. However, the use of pre-shaped input signals offers a route for reducing the rise time of these actuators by orders of magnitude. We started with an electrothermally actuated cantilever having an initial 10-90% rise time of 85 μs in air and 234 μs in water for a standard open-loop step input. We experimentally characterized the linearity and frequency response of the cantilever when operated in air and water, allowing us to obtain transfer functions for the two cases. We used these transfer functions, along with functions describing desired reduced rise-time system responses, to numerically simulate the required input signals. Using these pre-shaped input signals, we improved the open-loop 10-90% rise time from 85 μs to 3 μs in air and from 234 μs to 5 μs in water, an improvement by a factor of 28 and 47, respectively. Using this simple control strategy for MEMS electrothermal actuators makes them an attractive alternative to other high speed micromechanical actuators such as piezoelectric stacks or electrostatic comb structures which are more complex to design, fabricate, or operate.

Supporting scalable Bayesian networks using configurable discretizer actuators

CSIR Research Space (South Africa)

Osunmakinde, I

2009-04-01

Full Text Available The authors propose a generalized model with configurable discretizer actuators as a solution to the problem of the discretization of massive numerical datasets. Their solution is based on a concurrent distribution of the actuators and uses dynamic...

Tunable electromechanical actuation in silicone dielectric film

International Nuclear Information System (INIS)

Lamberti, Andrea; Di Donato, Marco; Giorgis, Fabrizio; Chiappone, Annalisa; Canavese, Giancarlo

2014-01-01

Dielectric elastomer actuator films were fabricated on transparent conductive electrode using bi-component poly(dimethyl)siloxane (PDMS). PDMS is a well-known material in microfluidics and soft lithography for biomedical applications, being easy to process, low cost, biocompatible and transparent. Moreover its mechanical properties can be easily tuned by varying the mixing ratio between the oligomer base and the crosslinking agent. In this work we investigate the chemical composition and the electromechanical properties of PDMS thin film verifying for the first time the tuneable actuation response by simply modifying the amount of the curing agent. We demonstrate that, for a 20:1 ratio of base:crosslinker mixture, a striking 150% enhancement of Maxwell strain occurs at 1 Hz actuating frequency. (paper)

Biomimetic actuator and sensor for robot hand

International Nuclear Information System (INIS)

Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon

2012-01-01

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

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.

Intelligent fault diagnosis and failure management of flight control actuation systems

Science.gov (United States)

Bonnice, William F.; Baker, Walter

1988-01-01

The real-time fault diagnosis and failure management (FDFM) of current operational and experimental dual tandem aircraft flight control system actuators was investigated. Dual tandem actuators were studied because of the active FDFM capability required to manage the redundancy of these actuators. The FDFM methods used on current dual tandem actuators were determined by examining six specific actuators. The FDFM capability on these six actuators was also evaluated. One approach for improving the FDFM capability on dual tandem actuators may be through the application of artificial intelligence (AI) technology. Existing AI approaches and applications of FDFM were examined and evaluated. Based on the general survey of AI FDFM approaches, the potential role of AI technology for real-time actuator FDFM was determined. Finally, FDFM and maintainability improvements for dual tandem actuators were recommended.

BRIEF COMMUNICATION: Electrothermal bistability tuning in a large displacement micro actuator

Science.gov (United States)

Gerson, Y.; Krylov, S.; Ilic, B.

2010-11-01

We report on an approach allowing simple yet efficient tuning of the bistability properties in large displacement micro actuators. The devices fabricated from silicon on insulator (SOI) wafers using a deep reactive ion etching (DRIE)-based process incorporate elastic suspension realized as a pair of beams initially curved in-plane and are operated electrostatically by a comb-drive transducer. The curvature of beam and therefore the stability characteristics of the suspension are controlled by passing a current through the suspension and resistive heating the beam material. Experimental results, which are in good agreement with the finite elements model predictions, demonstrate the feasibility of the suggested approach and show that the application of a small tuning current increases the device deflection from 42 to 56 µm, allows adjustment of the critical snap-through and snap-back voltages and makes it possible the control of latching without an additional electrode. The approach can be efficiently implemented in electrical and optical switches and threshold inertial and mass sensors where the use of long displacement actuators with an adjustable bistability range is beneficial.

Plasma actuators for bluff body flow control

Science.gov (United States)

Kozlov, Alexey V.

noise. A tandem cylinder configuration with the plasma actuation on the upstream cylinder is investigated using surface dynamic pressure sensors. As a result of the plasma actuation, the surface pressure fluctuations on the downstream cylinder are reduced by about two times at the free-stream velocity of 40 m/s (ReD = 164,000). In addition, this study presents the results of a parametric experimental investigation aimed at optimizing the body force produced by single dielectric barrier discharge (SDBD) plasma actuators used for aerodynamic flow control. A primary goal of the study is the improvement of actuator authority for flow control applications at higher Reynolds number than previously possible. The study examines the effects of dielectric material and thickness, applied voltage amplitude and frequency, voltage waveform, exposed electrode geometry, covered electrode width and multiple actuator arrays. The metric used to evaluate the performance of the actuator in each case is the measured actuator-induced thrust which is proportional to the total body force. It is demonstrated that actuators constructed with thick dielectric material of low dielectric constant and operated at low frequency AC voltage produce a body force that is an order of magnitude larger than that obtained by the Kapton-based actuators used in many previous plasma flow control studies. These actuators allow operation at much higher applied voltages without the formation of discrete streamers which lead to body force saturation.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Directory of Open Access Journals (Sweden)

Maziar Ahmad Sharbafi

2017-10-01

Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

A novel magnetorheological actuator for micro-motion control: identification of actuating characteristics

International Nuclear Information System (INIS)

Kaluvan, Suresh; Kim, Soomin; Choi, Seung-Bok; Thirumavalavan, Vinopraba

2015-01-01

A novel actuator using magnetorheological (MR) fluid sandwiched between two electrode type coils is proposed in this research work. The key enabling concept of the proposed actuator is to enhance the force due to the magnetic field produced by the electrode coil using the magnetorheological fluid. The direction and amount of current input to the top and bottom electrode coils decide the characteristics such as contraction, extension and the force generated by the actuator, respectively. To obtain the required displacement and actuation force, the viscosity of the MR fluid sandwiched between the two electrode coils is precisely varied by the input current. In this work, the MR fluid is operated in one of the most powerful modes, called squeeze mode, and hence the designed magnetorheological actuator is more powerful and precise. The experimental results shown in this paper show that it has a great advantage in micron-level displacement and vibration control applications. The main contribution of this innovative magnetorheological actuator design is that it can also behave like a damper. This technology will lead to a new dimension in the design of self-actuation and damping devices. In addition, the proposed magnetorheological actuator has additional advantages such as cost effectiveness and easy implementation. (paper)

Quasi-static analysis and control of planer and spatial bending fluidic actuator

OpenAIRE

Chang, Benjamin Che-Ming

2011-01-01

This work presents a novel silicone-based millimetre scale bending fluidic actuator. Two designs of the bending fluidic actuator are studied: a planer actuator that bends about one axis; and a spatial actuator able to bend about two orthogonal axes. The unique parallel micro-channel design of the fluidic actuators enables operation at low working pressures, while at the same time having a very limited thickness expansion during pressurization. The fluidic actuators can be easily scaled to des...

Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators

Directory of Open Access Journals (Sweden)

Khaled Elgeneidy

2018-02-01

Full Text Available This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.

Fast electrochemical membrane actuator: Design, fabrication and preliminary testing

Science.gov (United States)

Uvarov, I. V.; Postnikov, A. V.; Shlepakov, P. S.; Naumov, V. V.; Koroleva, O. M.; Izyumov, M. O.; Svetovoy, V. B.

2017-11-01

An actuator based on water electrolysis with a fast change of voltage polarity is presented. It demonstrates a new actuation principle allowing significant increase the operation frequency of the device due to fast termination of the produced gas. The actuator consists of a working chamber with metallic electrodes and supplying channels filled with an electrolyte. The chamber is formed in a layer of SU-8 and covered by a flexible polydimethylsiloxane membrane, which deforms as the pressure in the chamber increases. Design, fabrication procedure, and first tests of the actuator are described.

Transitory Control of Unsteady Separation using Pulsed Actuation

International Nuclear Information System (INIS)

Woo, George T K; Glezer, Ari

2011-01-01

The dynamic mechanisms of transitory flow attachment effected by pulsed actuation of the separated flow over a stalled airfoil are investigated experimentally. Actuation is effected by momentary pulsed jets generated by a spanwise array of combustion-based actuators such that the characteristic time of jet duration is nominally an order of magnitude shorter than the flow's convective time scale. The transitory flow field in the cross stream plane above the airfoil and in its near wake is investigated using multiple high-resolution PIV images that are obtained phase-locked to the actuation for continuous tracking of vorticity concentrations. The brief actuation pulse leads to severing of the separated vorticity layer and the subsequent shedding of large-scale vortical structures owing to the collapse of the separated flow domain which is accompanied by strong changes in the circulation about the entire airfoil. By exploiting the disparity between the characteristic times of flow response to actuation and relaxation, it is shown that successive actuation pulses can extend the flow attachment and enhance the global aerodynamic performance. It is also shown that coupling of the actuation to the airfoil's motion during cyclical pitch enhances the effect of transitory flow control and leads to a significant suppression of dynamic stall.

A prototype of a novel energy efficient variable stiffness actuator

NARCIS (Netherlands)

Visser, L.C.; Carloni, Raffaella; Klijnstra, F.; Stramigioli, Stefano

In this work, we present a proof of concept of a novel variable stiffness actuator. The actuator design is based on the conceptual design proposed in earlier work, and is such that the apparent output stiffness of the actuator can be changed independently of the output position and without any

True Low-Power Self-Locking Soft Actuators.

Science.gov (United States)

Kim, Seung Jae; Kim, Onnuri; Park, Moon Jeong

2018-03-01

Natural double-layered structures observed in living organisms are known to exhibit asymmetric volume changes with environmental triggers. Typical examples are natural roots of plants, which show unique self-organized bending behavior in response to environmental stimuli. Herein, light- and electro-active polymer (LEAP) based actuators with a double-layered structure are reported. The LEAP actuators exhibit an improvement of 250% in displacement and hold an object three times heavier as compared to that in the case of conventional electro-active polymer actuators. Most interestingly, the bending motion of the LEAP actuators can be effectively locked for a few tens of minutes even in the absence of a power supply. Further, the self-locking LEAP actuators show a large and reversible bending strain of more than 2.0% and require only 6.2 mW h cm -2 of energy to hold an object for 15 min at an operating voltage of 3 V. These novel self-locking soft actuators should find wide applicability in artificial muscles, biomedical microdevices, and various innovative soft robot technologies. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Self-Latching Piezocomposite Actuator

Science.gov (United States)

Wilkie, William K. (Inventor); Bryant, Robert G. (Inventor); Lynch, Christopher S. (Inventor)

2017-01-01

A self-latching piezocomposite actuator includes a plurality of shape memory ceramic fibers. The actuator can be latched by applying an electrical field to the shape memory ceramic fibers. The actuator remains in a latched state/shape after the electrical field is no longer present. A reverse polarity electric field may be applied to reset the actuator to its unlatched state/shape. Applied electric fields may be utilized to provide a plurality of latch states between the latched and unlatched states of the actuator. The self-latching piezocomposite actuator can be used for active/adaptive airfoils having variable camber, trim tabs, active/deformable engine inlets, adaptive or adjustable vortex generators, active optical components such as mirrors that change shapes, and other morphing structures.

Electrochemical fabrication and modelling of mechanical behavior of a tri-layer polymer actuator

International Nuclear Information System (INIS)

Kaynak, Akif; Yang Chunhui; Lim, Yang C.; Kouzani, Abbas

2011-01-01

Stability and performance of electrochemically synthesized tri-layer polypyrrole based actuators were reported. Concentrations were optimized as 0.05 M pyrrole and 0.05 M tetrabutylammonium hexaflurophosphate in propylene carbonate (PC). The force output of the actuators ranged from 0.2 to 0.4 mN. Cyclic deflection tests on PC based actuators for a duration of 3 h indicated that the displacement decreased by 60%. However, actuation could be regenerated by immersing the actuator into the electrolyte solution. Surface resistivity measurements on the actuators prior to and after 3 h continuous deflection did not show any significant change in the resistivity of the PPy layer. A triple-layer model of the polymer actuator was developed based on the classic bending beam theory by considering strain continuity between PPy and PVDF. Results predicted by the model were in good agreement with the experimental data.

High-authority smart material integrated electric actuator

Science.gov (United States)

Weisensel, G. N.; Pierce, Thomas D.; Zunkel, Gary

1997-05-01

For many current applications, hydraulic power is still the preferred method of gaining mechanical advantage. However, in many of these applications, this power comes with the penalties of high weight, size, cost, and maintenance due to the system's distributed nature and redundancy requirements. A high authority smart material Integrated Electric Actuator (IEA) is a modular, self-contained linear motion device that is capable of producing dynamic output strokes similar to those of hydraulic actuators yet at significantly reduced weight and volume. It provides system simplification and miniaturization. This actuator concept has many innovative features, including a TERFENOL-D-based pump, TERFENOL-D- based active valves, control algorithms, a displacement amplification unit and integrated, unitized packaging. The IEA needs only electrical power and a control command signal as inputs to provide high authority, high response rate actuation. This approach is directly compatible with distributed control strategies. Aircraft control, automotive brakes and fuel injection, and fluid power delivery are just some examples of the IEA's pervasive applications in aerospace, defense and commercial systems.

Modeling and simulation of thermally actuated bilayer plates

Science.gov (United States)

Bartels, Sören; Bonito, Andrea; Muliana, Anastasia H.; Nochetto, Ricardo H.

2018-02-01

We present a mathematical model of polymer bilayers that undergo large bending deformations when actuated by non-mechanical stimuli such as thermal effects. The simple model captures a large class of nonlinear bending effects and can be discretized with standard plate elements. We devise a fully practical iterative scheme and apply it to the simulation of folding of several practically useful compliant structures comprising of thin elastic layers.

Power consumption, discharge capacitance and light emission as measures for thrust production of dielectric barrier discharge plasma actuators

International Nuclear Information System (INIS)

Kriegseis, J.; Grundmann, S.; Tropea, C.

2011-01-01

A new procedure of determining the time resolved capacitance of a plasma actuator during operation is introduced, representing a simple diagnostic tool that provides insight into the phenomenological behavior of plasma actuators. The procedure is demonstrated by presenting example correlations between consumed electrical energy, size of the plasma region, and the operating voltage. It is shown that the capacitance of a plasma actuator is considerably increased by the presence of the plasma; hence a system that has previously been impedance matched can be considerably de-tuned when varying the operating voltage of the actuator. Such information is fundamental for any attempts to increase the energy efficiency of plasma-actuator systems. A combined analysis of the capacitance, light emission, size of the plasma region, force production, and power consumption is presented.

A constrained maximization formulation to analyze deformation of fiber reinforced elastomeric actuators

Science.gov (United States)

Singh, Gaurav; Krishnan, Girish

2017-06-01

Fiber reinforced elastomeric enclosures (FREEs) are soft and smart pneumatic actuators that deform in a predetermined fashion upon inflation. This paper analyzes the deformation behavior of FREEs by formulating a simple calculus of variations problem that involves constrained maximization of the enclosed volume. The model accurately captures the deformed shape for FREEs with any general fiber angle orientation, and its relation with actuation pressure, material properties and applied load. First, the accuracy of the model is verified with existing literature and experiments for the popular McKibben pneumatic artificial muscle actuator with two equal and opposite families of helically wrapped fibers. Then, the model is used to predict and experimentally validate the deformation behavior of novel rotating-contracting FREEs, for which no prior literature exist. The generality of the model enables conceptualization of novel FREEs whose fiber orientations vary arbitrarily along the geometry. Furthermore, the model is deemed to be useful in the design synthesis of fiber reinforced elastomeric actuators for general axisymmetric desired motion and output force requirement.

Adaptive fuzzy observer-based stabilization of a class of uncertain time-delayed chaotic systems with actuator nonlinearities

International Nuclear Information System (INIS)

Shahnazi, Reza; Haghani, Adel; Jeinsch, Torsten

2015-01-01

An observer-based output feedback adaptive fuzzy controller is proposed to stabilize a class of uncertain chaotic systems with unknown time-varying time delays, unknown actuator nonlinearities and unknown external disturbances. The actuator nonlinearity can be backlash-like hysteresis or dead-zone. Based on universal approximation property of fuzzy systems the unknown nonlinear functions are approximated by fuzzy systems, where the consequent parts of fuzzy rules are tuned with adaptive schemes. The proposed method does not need the availability of the states and an observer based output feedback approach is proposed to estimate the states. To have more robustness and at the same time to alleviate chattering an adaptive discontinuous structure is suggested. Semi-global asymptotic stability of the overall system is ensured by proposing a suitable Lyapunov–Krasovskii functional candidate. The approach is applied to stabilize the time-delayed Lorenz chaotic system with uncertain dynamics amid significant disturbances. Analysis of simulations reveals the effectiveness of the proposed method in terms of coping well with the modeling uncertainties, nonlinearities in actuators, unknown time-varying time-delays and unknown external disturbances while maintaining asymptotic convergence

Analytical design model for a piezo-composite unimorph actuator and its verification using lightweight piezo-composite curved actuators

Science.gov (United States)

Yoon, K. J.; Park, K. H.; Lee, S. K.; Goo, N. S.; Park, H. C.

2004-06-01

This paper describes an analytical design model for a layered piezo-composite unimorph actuator and its numerical and experimental verification using a LIPCA (lightweight piezo-composite curved actuator) that is lighter than other conventional piezo-composite type actuators. The LIPCA is composed of top fiber composite layers with high modulus and low CTE (coefficient of thermal expansion), a middle PZT ceramic wafer, and base layers with low modulus and high CTE. The advantages of the LIPCA design are to replace the heavy metal layer of THUNDER by lightweight fiber-reinforced plastic layers without compromising the generation of high force and large displacement and to have design flexibility by selecting the fiber direction and the number of prepreg layers. In addition to the lightweight advantage and design flexibility, the proposed device can be manufactured without adhesive layers when we use a resin prepreg system. A piezo-actuation model for a laminate with piezo-electric material layers and fiber composite layers is proposed to predict the curvature and residual stress of the LIPCA. To predict the actuation displacement of the LIPCA with curvature, a finite element analysis method using the proposed piezo-actuation model is introduced. The predicted deformations are in good agreement with the experimental ones.

Actuator management for ECRH at ASDEX Upgrade

Energy Technology Data Exchange (ETDEWEB)

Rapson, Christopher J., E-mail: chris.rapson@ipp.mpg.de; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang

2015-10-15

Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.

Actuator management for ECRH at ASDEX Upgrade

International Nuclear Information System (INIS)

Rapson, Christopher J.; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang

2015-01-01

Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.

Design and Evaluation of a Direct Drive Valve Actuated by Piezostack Actuator

Directory of Open Access Journals (Sweden)

Juncheol Jeon

2013-01-01

Full Text Available This paper presents performance characteristics of a new type of direct drive valve (DDV system driven by a piezostack actuator. The flexible beam mechanism is employed to amplify the output displacement from the piezostack actuator. After describing the operational principle of the proposed piezo DDV system, the governing equation of the whole piezo DDV system is then obtained by integrating the equations of the valve components. Based on the proposed model, significant structural components of the piezo DDV system are designed in order to achieve operational requirements (operating frequency: over 100 Hz; flow rate: 20 liter/Min.. An optimal design method is proposed for obtaining the geometry of the flexible beam mechanism by considering spool displacement, required operating frequency, and available space of the valve. After deciding the specific geometric dimensions of the piezo DDV system, a PID control algorithm is designed to enforce the spool position to the desired position trajectories by activating the piezostack actuator. Characteristics and control performances of the proposed piezo DDV system are evaluated using the MATLAB Simulink.

Fast electrochemical actuator

International Nuclear Information System (INIS)

Uvarov, I V; Postnikov, A V; Svetovoy, V B

2016-01-01

Lack of fast and strong microactuators is a well-recognized problem in MEMS community. Electrochemical 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 termination. Here we demonstrate an actuation regime, for which the gas pressure is relaxed just for 10 μs or so. The actuator consists of a microchamber filled with the electrolyte and covered with a flexible membrane. The membrane bends outward when the pressure in the chamber increases. Fast termination of gas and high pressure developed in the chamber are related to a high density of nanobubbles in the chamber. The physical processes happening in the chamber are discussed so as problems that have to be resolved for practical applications of this actuation regime. The actuator can be used as a driving engine for microfluidics. (paper)

Electro-actuation characteristics of Cl2 and SF6 plasma-treated IPMC actuators

International Nuclear Information System (INIS)

Saher, Saim; Kim, Woojin; Moon, Sungwon; Jin Kim, H; Kim, Yong Hyup

2010-01-01

This paper describes plasma treatments that improve the actuation properties by modifying the surface morphology of ionic polymer metal composites (IPMC). The proposed Cl 2 and SF 6 plasmas change the surface appearance of the electroactive polymer, and scanning electron microscopy (SEM) of the plasma-treated surfaces reveals the development of round and cone-shaped microstructures. After electroless chemical metal plating, these microstructures significantly alter the characteristics of the IPMC electrode. In plasma-treated IPMCs, the densely packed platinum nanoparticles have produced a relatively thick electrode layer. This configuration has led to the improvement in the electrical properties of the IPMC: surface resistance is noticeably decreased, whereas electrical capacitance is increased. These changes in the electrical properties have considerably enhanced the actuation parameters: displacement, force and operational life are increased by more than three times relative to the conventional IPMC. Our experimental data suggest a relationship between the IPMC actuator's electrical properties and actuation parameters: actuators with lower surface resistance generate large deflection and actuators with higher capacitance generate large actuation force. The actuation tests including coin lifting suggests the potential of the modified IPMC for artificial muscle applications

Adaptive tracking control for active suspension systems with non-ideal actuators

Science.gov (United States)

Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

2017-07-01

As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

Laminated chemical and physical micro-jet actuators based on conductive media

Science.gov (United States)

Gadiraju, Priya D.

2008-04-01

This dissertation presents the development of electrically-powered, lamination-based microactuators for the realization of large arrays of high impulse and short duration micro-jets with potential applications in the field of micro-electro-mechanical systems (MEMS). Microactuators offer unique control opportunities by converting the input electrical or chemical energy stored in a propellant into useful mechanical energy. This small and precise control obtained can potentially be applied towards aerodynamic control and transdermal drug delivery applications. This thesis work discusses the feasibility of using microactuators for two such applications: Control of the motion of a spinning projectile by utilizing the chemically-driven microjets ejected from the actuators, and enhancement of the permeability properties of skin by selectively ablating the stratum corneum layer of skin using the physical microjets ejected from the actuators. This enhanced permeability of skin can later be used for the delivery of high molecular weight drugs for transdermal drug delivery. The development of electrically powered microactuators starts by fabricating an array of radially firing microactuators using lamination-based microfabrication techniques that potentially enable batch fabrication at low cost. The microactuators of this thesis consist of three main parts: a micro chamber in which the propellant is stored; two electrode structures through which electrical energy is supplied to the propellant; and a micro nozzle through which the propellant or released gases from the propellant are expanded as a jet. Once the actuators are fabricated, they are integrated with MEMS-process-compatible propellants and optimized so as to produce instantaneous ignition of the propellant. This instantaneous ignition is achieved either by making the propellant itself conductive, thus, passing an electric current directly through the propellant; or by discharging an arc across the propellant by

Electromechanical response and failure modes of a dielectric elastomer tube actuator with boundary constraints

International Nuclear Information System (INIS)

Zhou, Jianyou; Jiang, Liying; Khayat, Roger E

2014-01-01

As a widely used configuration for dielectric elastomer (DE) actuators, DE tube actuators (or cylindrical actuators) are also found to be susceptible to electromechanical instability (EMI), which may lead to a premature electrical breakdown (EB), and inhibit the potential actuation of DE actuators. This work investigates the electromechanical response of a DE tube actuator with and without boundary constraints to demonstrate an alternative to avoid EMI while achieving large actuation. Our simulation results based on the Gent strain energy model show that the EMI of a DE tube actuator can be eliminated, and larger actuation deformation can be achieved by applying boundary constraints. As a result of these constraints, consideration is also given to the possible mechanical buckling failure that may occur. Mechanisms of possible failure modes of constrained and unconstrained DE tube actuators, such as electromechanical instability, electrical breakdown and mechanical buckling, are elucidated. This paper should provide better theoretical guidance on how to improve the actuation performance of DE actuators, thus leading to the optimal design of DE-based devices. (paper)

A conclusive scalable model for the complete actuation response for IPMC transducers

International Nuclear Information System (INIS)

McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q

2010-01-01

This paper proposes a conclusive scalable model for the complete actuation response for ionic polymer metal composites (IPMC). This single model is proven to be able to accurately predict the free displacement/velocity and force actuation at varying displacements, with up to 3 V inputs. An accurate dynamic relationship between the force and displacement has been established which can be used to predict the complete actuation response of the IPMC transducer. The model is accurate at large displacements and can also predict the response when interacting with external mechanical systems and loads. This model equips engineers with a useful design tool which enables simple mechanical design, simulation and optimization when integrating IPMC actuators into an application. The response of the IPMC is modelled in three stages: (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electromechanical coupling term and (iii) a segmented mechanical beam model which includes an electrically induced torque for the polymer. Model parameters are obtained using the dynamic time response and results are presented demonstrating the correspondence between the model and experimental results over a large operating range. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators

Dual sensing-actuation artificial muscle based on polypyrrole-carbon nanotube composite

Science.gov (United States)

Schumacher, J.; Otero, Toribio F.; Pascual, Victor H.

2017-04-01

Dual sensing artificial muscles based on conducting polymer are faradaic motors driven by electrochemical reactions, which announce the development of proprioceptive devices. The applicability of different composites has been investigated with the aim to improve the performance. Addition of carbon nanotubes may reduce irreversible reactions. We present the testing of a dual sensing artificial muscle based on a conducting polymer and carbon nanotubes composite. Large bending motions (up to 127 degrees) in aqueous solution and simultaneously sensing abilities of the operation conditions are recorded. The sensing and actuation equations are derived for incorporation into a control system.

Model-based design and experimental verification of a monitoring concept for an active-active electromechanical aileron actuation system

Science.gov (United States)

Arriola, David; Thielecke, Frank

2017-09-01

Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.

Modeling and inverse feedforward control for conducting polymer actuators with hysteresis

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Tan, Xiaobo

2014-01-01

Conducting polymer actuators are biocompatible with a small footprint, and operate in air or liquid media under low actuation voltages. This makes them excellent actuators for macro- and micro-manipulation devices, however, their positioning ability or accuracy is adversely affected by their hysteresis non-linearity under open-loop control strategies. In this paper, we establish a hysteresis model for conducting polymer actuators, based on a rate-independent hysteresis model known as the Duhem model. The hysteresis model is experimentally identified and integrated with the linear dynamics of the actuator. This combined model is inverted to control the displacement of the tri-layer actuators considered in this study, without using any external feedback. The inversion requires an inverse hysteresis model which was experimentally identified using an inverse neural network model. Experimental results show that the position tracking errors are reduced by more than 50% when the hysteresis inverse model is incorporated into an inversion-based feedforward controller, indicating the potential of the proposed method in enabling wider use of such smart actuators. (paper)

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

Vibration analysis of a functionally graded piezoelectric cylindrical actuator

International Nuclear Information System (INIS)

Zhang, T T; Shi, Z F; Spencer, B F Jr

2008-01-01

This paper focuses on the response of a functionally graded piezoelectric cylindrical actuator placed in a harmonic electric field based on elastic membrane theory and shell theory. The actuator is polarized in the radial direction with its piezoelectric coefficient d 31 varying linearly along the axial direction. In the present investigation, non-dimensional expressions are introduced, and analytical solutions for this class of actuator are obtained. The results provided in the present study are compared with other investigations, with good agreement being found. The major differences between a functionally graded actuator and an actuator with homogeneous material properties are identified, and the advantages of the former are demonstrated. In the last section of this paper, limitations of membrane theory and shell theory models are discussed

Smart Material-Actuated Flexible Tendon-Based Snake Robot

Directory of Open Access Journals (Sweden)

Mohiuddin Ahmed

2016-05-01

Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

Actuators for smart applications

NARCIS (Netherlands)

Paternoster, Alexandre; de Boer, Andries; Loendersloot, Richard; Akkerman, Remko; D. Brei,; M. Frecker,

2010-01-01

Actuator manufacturers are developing promising technologies which meet high requirements in performance, weight and power consumption. Conventionally, actuators are characterized by their displacement and load performance. This hides the dynamic aspects of those actuation solutions. Work per weight

Optimization of Comb-Drive Actuators [Nanopositioners for probe-based data storage and musical MEMS

NARCIS (Netherlands)

Engelen, Johannes Bernardus Charles

2011-01-01

The era of infinite storage seems near. To reach it, data storage capabilities need to grow, and new storage technologies must be developed.This thesis studies one aspect of one of the emergent storage technologies: optimizing electrostatic combdrive actuation for a parallel probe-based data storage

Dynamic actuation of a novel laser-processed NiTi linear actuator

International Nuclear Information System (INIS)

Pequegnat, A; Daly, M; Wang, J; Zhou, Y; Khan, M I

2012-01-01

A novel laser processing technique, capable of locally modifying the shape memory effect, was applied to enhance the functionality of a NiTi linear actuator. By altering local transformation temperatures, an additional memory was imparted into a monolithic NiTi wire to enable dynamic actuation via controlled resistive heating. Characterizations of the actuator load, displacement and cyclic properties were conducted using a custom-built spring-biased test set-up. Monotonic tensile testing was also implemented to characterize the deformation behaviour of the martensite phase. Observed differences in the deformation behaviour of laser-processed material were found to affect the magnitude of the active strain. Furthermore, residual strain during cyclic actuation testing was found to stabilize after 150 cycles while the recoverable strain remained constant. This laser-processed actuator will allow for the realization of new applications and improved control methods for shape memory alloys. (paper)

EMC design for actuators in the FAST reflector

Science.gov (United States)

Zhang, Hai-Yan; Wu, Ming-Chang; Yue, You-Ling; Gan, Heng-Qian; Hu, Hao; Huang, Shi-Jie

2018-04-01

An active reflector is one of the three main innovations incorporated in the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The deformation of such a huge spherically shaped reflector into different transient parabolic shapes is achieved by using 2225 hydraulic actuators which change the position of the 2225 nodes through the connected down tied cables. For each different tracking process of the telescope, more than 1/3 of these 2225 actuators must be in operation to tune the parabolic aperture accurately and meet the surface error restriction. This means that some of these actuators are inevitably located within the main beam of the receiver, and Electromagnetic Interference (EMI) from the actuators must be mitigated to ensure the scientific output of the telescope. Based on the threshold level of interference detrimental to radio astronomy described in ITU-R Recommendation RA.769 and EMI measurements, the shielding efficiency (SE) requirement for each actuator is set to be 80 dB in the frequency range from 70 MHz to 3 GHz. Therefore, Electromagnetic Compatibility (EMC) was taken into account in the actuator design by measures such as power line filters, optical fibers, shielding enclosures and other structural measures. In 2015, all the actuators had been installed at the FAST site. Till now, no apparent EMI from the actuators has been detected by the receiver, which demonstrates the effectiveness of these EMC measures.

Synthesis of new solid polymer electrolyte and actuator based on PEDOT/NBR/ionic liquid

Science.gov (United States)

Cho, M. S.; Seo, H. J.; Nam, J. D.; Choi, H. R.; Koo, J. C.; Lee, Y.

2006-03-01

The conducting polymer actuator was presented. The solid polymer electrolyte based on nitrile rubber (NBR) activated with different ionic liquids was prepared. The three different grades of NBR films were synthesized by emulsion polymerization with different amount of acrylonitrile, 23, 35, and 40 mol. %, respectively. The effect of acrylonitrile content on the ionic conductivity and dielectric constant of solid polymer electrolytes was characterized. A conducting polymer, poly(3,4-ethylenedioxythiophene) (PEDOT), was synthesized on the surface of the NBR layer by using a chemical oxidation polymerization technique, and room temperature ionic liquids (RTIL) based on imidazolium salts, e.g. 1-butyl-3-methyl imidazolium X [where X= BF 4 -, PF 6 -, (CF 3SO II) IIN -], were absorbed into the composite film. The effects of the anion size of the ionic liquids on the displacement of the actuator were examined. The displacement increased with increasing the anion-size of the ionic liquids.

Investigation of electrochemical actuation by polyaniline nanofibers

Science.gov (United States)

Mehraeen, Shayan; Alkan Gürsel, Selmiye; Papila, Melih; Çakmak Cebeci, Fevzi

2017-09-01

Polyaniline nanofibers have shown promising electrical and electrochemical properties which make them prominent candidates in the development of smart systems employing sensors and actuators. Their electrochemical actuation potential is demonstrated in this study. A trilayer composite actuator based on polyaniline nanofibers was designed and fabricated. Cross-linked polyvinyl alcohol was sandwiched between two polyaniline nanofibrous electrodes as ion-containing electrolyte gel. First, electrochemical behavior of a single electrode was studied, showing reversible redox peak pairs in 1 M HCl using a cyclic voltammetry technique. High aspect ratio polyaniline nanofibers create a porous network which facilitates ion diffusion and thus accelerates redox reactions. Bending displacement of the prepared trilayer actuator was then tested and reported under an AC potential stimulation as low as 0.5 V in a variety of frequencies from 50 to 1000 mHz, both inside 1 M HCl solution and in air. Decay of performance of the composite actuator in air is investigated and it is reported that tip displacement in a solution was stable and repeatable for 1000 s in all selected frequencies.

Ultrathin Alvarez lens system actuated by artificial muscles.

Science.gov (United States)

Petsch, S; Grewe, A; Köbele, L; Sinzinger, S; Zappe, H

2016-04-01

A key feature of Alvarez lenses is that they may be tuned in focal length using lateral rather than axial translation, thus reducing the overall length of a focus-tunable optical system. Nevertheless the bulk of classical microsystems actuators limits further miniaturization. We present here a new, ultrathin focus-tunable Alvarez lens fabricated using molding techniques and actuated using liquid crystal elastomer (LCE) artificial muscle actuators. The large deformation generated by the LCE actuators permits the integration of the actuators in-plane with the mechanical and optical system and thus reduces the device thickness to only 1.6 mm. Movement of the Alvarez lens pair of 178 μm results in a focal length change of 3.3 mm, based on an initial focal length of 28.4 mm. This design is of considerable interest for realization of ultraflat focus-tunable and zoom systems.

Full Polymer Dielectric Elastomeric Actuators (DEA Functionalised with Carbon Nanotubes and High-K Ceramics

Directory of Open Access Journals (Sweden)

Tilo Köckritz

2016-09-01

Full Text Available Dielectric elastomer actuators (DEA are special devices which have a simple working and construction principle and outstanding actuation properties. The DEAs consist of a combination of different materials for the dielectric and electrode layers. The combination of these layers causes incompatibilities in their interconnections. Dramatic differences in the mechanical properties and bad adhesion of the layers are the principal causes for the reduction of the actuation displacement and strong reduction of lifetime. Common DEAs achieve actuation displacements of 2% and a durability of some million cycles. The following investigations represent a new approach to solving the problems of common systems. The investigated DEA consists of only one basic raw polymer, which was modified according to the required demands of each layer. The basic raw polymer was modified with single-walled carbon nanotubes or high-k ceramics, for example, lead magnesium niobate-lead titanate. The development of the full polymer DEA comprised the development of materials and technologies to realise a reproducible layer composition. It was proven that the full polymer actuator worked according to the theoretical rules. The investigated system achieved actuation displacements above 20% regarding thickness, outstanding interconnections at each layer without any failures, and durability above 3 million cycles without any indication of an impending malfunction.

Towards a digital sound reconstruction MEMS device: Characterization of a single PZT based piezoelectric actuator

KAUST Repository

Carreno, Armando Arpys Arevalo

2015-04-01

In this paper we report the fabrication and characterization of a single piezoelectric actuator for digital sound reconstruction. This work is the first step towards the implementation of a true digital micro-loudspeaker by means of an array of acoustic actuators. These actuators consist of a flexible membrane fabricated using polyimide, which is actuated using a Lead-Zirconate-Titanate (PZT) piezoelectric ceramic layer working in the d31 actuation mode. The dimensions of the membrane are of 1mm diameter and 4μm in thickness, which is capable of being symmetrically actuated in both upward and downward directions, due to the back etch step releasing the membrane. Our electrical characterization shows an improvement in the polarization of the piezoelectric material after its final etch patterning step, and our mechanical characterization shows the natural modes of resonance of the stacked membrane. © 2015 IEEE.

Development of a Flat Type Six-Axis Stage Based on Piezoelectric Actuators

Directory of Open Access Journals (Sweden)

Hau-Wei Lee

2014-01-01

Full Text Available This study presents and investigates a six-DOF (degrees of freedom piezoelectric based stage for positioning error compensation. The relationship between the displacement of the piezoelectric actuators and the stage can be computed according to the geometric relationships of the actuators installed. In this study, a feedforward compensator based on the hysteresis model has been designed for compensation and a PI controller was used for positioning. The combination of a feedforward compensator and PI controller gives the stage good positioning and tracking performance. Stage position information is feedback from a six-DOF optical measurement system comprised of three modular two-dimensional measurement devices. Each module employs a quadrant photodiode (QPD, a laser diode, and a lens. The measurement signal is acquired and processed using an FPGA based processor for real time control. The linear and angular positioning resolution is 0.02 μm and 0.1 arcsec, respectively. When the stage is controlled in a closed loop, the positioning errors are in the range of ±0.1 μm and ±0.5 arcsec. The stage is controlled to track a sinusoidal wave with an amplitude of 2.5 μm and a frequency of 5 Hz; tracking errors were within ±0.1 μm and ±0.2 arcsec.

Fast force actuators for LSST primary/tertiary mirror

Science.gov (United States)

Hileman, Edward; Warner, Michael; Wiecha, Oliver

2010-07-01

The very short slew times and resulting high inertial loads imposed upon the Large Synoptic Survey Telescope (LSST) create new challenges to the primary mirror support actuators. Traditionally large borosilicate mirrors are supported by pneumatic systems, which is also the case for the LSST. These force based actuators bear the weight of the mirror and provide active figure correction, but do not define the mirror position. A set of six locating actuators (hardpoints) arranged in a hexapod fashion serve to locate the mirror. The stringent dynamic requirements demand that the force actuators must be able to counteract in real time for dynamic forces on the hardpoints during slewing to prevent excessive hardpoint loads. The support actuators must also maintain the prescribed forces accurately during tracking to maintain acceptable mirror figure. To meet these requirements, candidate pneumatic cylinders incorporating force feedback control and high speed servo valves are being tested using custom instrumentation with automatic data recording. Comparative charts are produced showing details of friction, hysteresis cycles, operating bandwidth, and temperature dependency. Extremely low power actuator controllers are being developed to avoid heat dissipation in critical portions of the mirror and also to allow for increased control capabilities at the actuator level, thus improving safety, performance, and the flexibility of the support system.

Bismuth Sodium Titanate Based Materials for Piezoelectric Actuators.

Science.gov (United States)

Reichmann, Klaus; Feteira, Antonio; Li, Ming

2015-12-04

The ban of lead in many electronic products and the expectation that, sooner or later, this ban will include the currently exempt piezoelectric ceramics based on Lead-Zirconate-Titanate has motivated many research groups to look for lead-free substitutes. After a short overview on different classes of lead-free piezoelectric ceramics with large strain, this review will focus on Bismuth-Sodium-Titanate and its solid solutions. These compounds exhibit extraordinarily high strain, due to a field induced phase transition, which makes them attractive for actuator applications. The structural features of these materials and the origin of the field-induced strain will be revised. Technologies for texturing, which increases the useable strain, will be introduced. Finally, the features that are relevant for the application of these materials in a multilayer design will be summarized.

Fast Response, Open-Celled Porous, Shape Memory Effect Actuators with Integrated Attachments

Science.gov (United States)

Jardine, Andrew Peter (Inventor)

2015-01-01

This invention relates to the exploitation of porous foam articles exhibiting the Shape Memory Effect as actuators. Each foam article is composed of a plurality of geometric shapes, such that some geometric shapes can fit snugly into or around rigid mating connectors that attach the Shape Memory foam article intimately into the load path between a static structure and a moveable structure. The foam is open-celled, composed of a plurality of interconnected struts whose mean diameter can vary from approximately 50 to 500 microns. Gases and fluids flowing through the foam transfer heat rapidly with the struts, providing rapid Shape Memory Effect transformations. Embodiments of porous foam articles as torsional actuators and approximately planar structures are disposed. Simple, integral connection systems exploiting the ability to supply large loads to a structure, and that can also supply hot and cold gases and fluids to effect rapid actuation are also disposed.

Shape memory alloy-based small crawling robots inspired by C. elegans

Energy Technology Data Exchange (ETDEWEB)

Yuk, Hyunwoo; Kim, Daeyeon; Shin, Jennifer H [Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon (Korea, Republic of); Lee, Honggu; Jo, Sungho, E-mail: shjo@kaist.ac.kr, E-mail: j_shin@kaist.ac.kr [Department of Computer Science, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon (Korea, Republic of)

2011-12-15

Inspired by its simple musculature, actuation and motion mechanisms, we have developed a small crawling robot that closely mimics the model organism of our choice: Caenorhabditis elegans. A thermal shape memory alloy (SMA) was selected as an actuator due to the similarities of its properties to C. elegans muscles. Based on the anatomy of C. elegans, a 12-unit robot was designed to generate a sinusoidal undulating motion. Each body unit consisting of a pair of SMA actuators is serially connected by rigid links with an embedded motion control circuit. A simple binary operation-based motion control mechanism was implemented using a microcontroller. The assembled robot can execute C. elegans-like motion with a 0.17 Hz undulation frequency. Its motion is comparable to that of a real worm.

A MEMS Electrochemical Bellows Actuator for Fluid Metering Applications

Science.gov (United States)

Sheybani, Roya; Gensler, Heidi; Meng, Ellis

2013-01-01

We present a high efficiency wireless MEMS electrochemical bellows actuator capable of rapid and repeatable delivery of boluses for fluid metering and drug delivery applications. Nafion®-coated Pt electrodes were combined with Parylene bellows filled with DI water to form the electrolysis-based actuator. The performance of actuators with several bellows configurations was compared for a range of applied currents (1-10 mA). Up to 75 boluses were delivered with an average pumping flow rate of 114.40 ± 1.63 μL/min. Recombination of gases into water, an important factor in repeatable and reliable actuation, was studied for uncoated and Nafion®-coated actuators. Real-time pressure measurements were conducted and the effects of temperature, physiological back pressure, and drug viscosity on delivery performance were investigated. Lastly, we present wireless powering of the actuator using a class D inductive powering system that allowed for repeatable delivery with less than 2% variation in flow rate values. PMID:22833156

Firewater system inadvertent actuation frequencies

International Nuclear Information System (INIS)

Schroeder, J.A.; Eide, S.A.

1993-01-01

This paper presents some recommended generic values for fire protection system inadvertent actuation frequencies. The frequencies are based on actual data from Department of Energy and commercial reactor plant facilities

Elbow joint rehabilitation equipment actuated by pneumatic muscles

Directory of Open Access Journals (Sweden)

Vetrice Georgiana

2017-01-01

Full Text Available The mobility of the limbs is an essential prerequisite for the individual’s physical autonomy. For persons suffering from post-traumatic affections of the elbow joint such limited mobility results in barriers in fulfilling personal or professional tasks. Passive motion has certain specific advantages and beneficial effects, thus being highly recommended for the recovery of injured joints. The paper presents a model of rehabilitation equipment that induces continuous passive motion of the elbow, as part of a recovery programme. The equipment is actuated by pneumatic muscles, using compressed air as the source of energy that generates force and motion. The main benefits of the pneumatic actuation system compared to other driving systems are its low cost, simple and robust construction and swift response to commands. Its constructive simplicity and reduced cost adds to the system’s eligibility for deployment in medical units.

Three-dimensional effects of curved plasma actuators in quiescent air

International Nuclear Information System (INIS)

Wang Chincheng; Durscher, Ryan; Roy, Subrata

2011-01-01

This paper presents results on a new class of curved plasma actuators for the inducement of three-dimensional vortical structures. The nature of the fluid flow inducement on a flat plate, in quiescent conditions, due to four different shapes of dielectric barrier discharge (DBD) plasma actuators is numerically investigated. The three-dimensional plasma kinetic equations are solved using our in-house, finite element based, multiscale ionized gas (MIG) flow code. Numerical results show electron temperature and three dimensional plasma force vectors for four shapes, which include linear, triangular, serpentine, and square actuators. Three-dimensional effects such as pinching and spreading the neighboring fluid are observed for serpentine and square actuators. The mechanisms of vorticity generation for DBD actuators are discussed. Also the influence of geometric wavelength (λ) and amplitude (Λ) of the serpentine and square actuators on vectored thrust inducement is predicted. This results in these actuators producing significantly better flow mixing downstream as compared to the standard linear actuator. Increasing the wavelengths of serpentine and square actuators in the spanwise direction is shown to enhance the pinching effect giving a much higher vertical velocity. On the contrary, changing the amplitude of the curved actuator varies the streamwise velocity significantly influencing the near wall jet. Experimental data for a serpentine actuator are also reported for validation purpose.

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

Science.gov (United States)

Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie

2016-09-01

Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.

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...

Fundamentals of magnet-actuated droplet manipulation on an open hydrophobic surface†

Science.gov (United States)

Long, Zhicheng; Shetty, Abhishek M.; Solomon, Michael J.; Larson, Ronald G.

2010-01-01

We systematically investigate droplet movement, coalescence, and splitting on an open hydrophobic surface. These processes are actuated by magnetic beads internalized in an oil-coated aqueous droplet using an external magnet. Results are organized into an ‘operating diagram’ that describes regions of droplet stable motion, breakage, and release from the magnet. The results are explained theoretically with a simple model that balances magnetic, friction, and capillary-induced drag forces and includes the effects of particle type, droplet size, surrounding oil layer, surface tension, and viscosity. Finally, we discuss the implications of the results for the design of magnet-actuated droplet systems for applications such as nucleic acid purification, immunoassay and drug delivery. PMID:19458864

An artificial flexible robot arm based on pneumatic muscle actuators

Directory of Open Access Journals (Sweden)

Renn Jyh-Chyang

2017-01-01

Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

Three-electrode self-actuating self-sensing quartz cantilever: design, analysis, and experimental verification.

Science.gov (United States)

Chen, C Julian; Schwarz, Alex; Wiesendanger, Roland; Horn, Oliver; Müller, Jörg

2010-05-01

We present a novel quartz cantilever for frequency-modulation atomic force microscopy (FM-AFM) which has three electrodes: an actuating electrode, a sensing electrode, and a ground electrode. By applying an ac signal on the actuating electrode, the cantilever is set to vibrate. If the frequency of actuation voltage closely matches one of the characteristic frequencies of the cantilever, a sharp resonance should be observed. The vibration of the cantilever in turn generates a current on the sensing electrode. The arrangement of the electrodes is such that the cross-talk capacitance between the actuating electrode and the sensing electrode is less than 10(-16) F, thus the direct coupling is negligible. To verify the principle, a number of samples were made. Direct measurements with a Nanosurf easyPPL controller and detector showed that for each cantilever, one or more vibrational modes can be excited and detected. Using classical theory of elasticity, it is shown that such novel cantilevers with proper dimensions can provide optimized performance and sensitivity in FM-AFM with very simple electronics.

Self-running and self-floating two-dimensional actuator using near-field acoustic levitation

Science.gov (United States)

Chen, Keyu; Gao, Shiming; Pan, Yayue; Guo, Ping

2016-09-01

Non-contact actuators are promising technologies in metrology, machine-tools, and hovercars, but have been suffering from low energy efficiency, complex design, and low controllability. Here we report a new design of a self-running and self-floating actuator capable of two-dimensional motion with an unlimited travel range. The proposed design exploits near-field acoustic levitation for heavy object lifting, and coupled resonant vibration for generation of acoustic streaming for non-contact motion in designated directions. The device utilizes resonant vibration of the structure for high energy efficiency, and adopts a single piezo element to achieve both levitation and non-contact motion for a compact and simple design. Experiments demonstrate that the proposed actuator can reach a 1.65 cm/s or faster moving speed and is capable of transporting a total weight of 80 g under 1.2 W power consumption.

Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator.

Science.gov (United States)

Nesler, Christopher R; Swift, Tim A; Rouse, Elliott J

2018-04-01

Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has not yet been fully realized. The purpose of this study was to derive and demonstrate a proof-of-concept for a pneumatic interference actuator (PIA)-a lightweight, soft actuator able to produce torque by the self-intersection of a fabric balloon that arises from changes in physical geometry. General closed-form equations are derived to express the expected actuator torque and mechanical work as functions of the balloon geometry, pressure, and deflection angle. Hard and soft cylindrical physical prototypes were constructed to assess the accuracy of the mathematical models. The proposed mathematical model was found to agree with the pressure-volume relationship and successfully predict the maximum torque as a function of geometry, pressure, and deflection at nonzero deflection angles. Peak powers up to 122.1 ± 10.0 W (mean ± standard deviation), with a resting internal pressure of 158.0 ± 0.2 kPa, were observed from the hard actuator prototype. For the soft actuator prototype, peak powers of 97.9 ± 21.1 W were observed at a resting pressure of 166.8 kPa. The work performed was within 3.2% ± 3.4% and 14.4% ± 8.2% of theoretical values across all trials, and within 19.1% ± 4.4% of theoretical values when compared to the torque-angle relationship. This study highlights the promise of utilizing the self-intersection of a PIA to perform human-scale mechanical work, and future research will focus on implementations for wearable robotic systems.

Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Directory of Open Access Journals (Sweden)

Yeming Zhang

2018-03-01

Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

Size-dependent pull-in instability of electrostatically actuated microbeam-based MEMS

International Nuclear Information System (INIS)

Wang, Binglei; Zhou, Shenjie; Zhao, Junfeng; Chen, Xi

2011-01-01

We present a size-dependent model for electrostatically actuated microbeam-based MEMS using strain gradient elasticity theory. The normalized pull-in voltage is shown to increase nonlinearly with the decrease of the beam height, and the size effect becomes prominent if the beam thickness is on the order of microns or smaller (i.e. when the beam dimension is comparable to the material length scale parameter). Very good agreement is found between the present model and available experimental data. The study may be helpful to characterize the mechanical properties of small size MEMS, or guide the design of microbeam-based devices for a wide range of potential applications. (technical note)

Toward the Design of Multi Asymmetric Surface Dielectric Barrier Discharge (ASDBD) Actuators

International Nuclear Information System (INIS)

Zadeh, Massiel; Rohani, V.; Cauneau, F.; Fabry, F.; Fulcheri, L.

2015-01-01

This paper investigates the electrical and mechanical behaviors of a single-ASDBD actuator and a two-ASDBD one supplied in sinusoidal mode (1–10 kHz). The main objective of our research is to determine the optimum frequency values for the function of these actuators with a given power supply. For this purpose, we determine the electrical power density input to the actuators versus frequency through two methods: i) a semi-theoretical method, based on an impedance calculation, and ii) an experimental method, based on direct electrical measurements. These methods show that the addition of a second ASDBD changes the resonance frequency value of the actuator by moving it towards low frequencies. After characterizing the aerodynamic mobile layer structure induced by the single-ASDBD actuator, we analyze experimentally the mechanical response of a two-ASDBD actuator as a function of the inter-ASDBD distance. The experiments demonstrate that the induced electric wind velocity and the electro-mechanical yield of a two-ASDBD actuator reach a maximum value for an optimum inter-ASDBD distance, which is a useful value for the design of highly efficient multi-ASDBD actuators. (plasma technology)

Finite element analysis of electroactive polymer and magnetoactive elastomer based actuation for origami folding

Science.gov (United States)

Zhang, Wei; Ahmed, Saad; Masters, Sarah; Ounaies, Zoubeida; Frecker, Mary

2017-10-01

The incorporation of smart materials such as electroactive polymers and magnetoactive elastomers in origami structures can result in active folding using external electric and magnetic stimuli, showing promise in many origami-inspired engineering applications. In this study, 3D finite element analysis (FEA) models are developed using COMSOL Multiphysics software for three configurations that incorporate a combination of active and passive material layers, namely: (1) a single-notch unimorph folding configuration actuated using only external electric field, (2) a double-notch unimorph folding configuration actuated using only external electric field, and (3) a bifold configuration which is actuated using multi-field (electric and magnetic) stimuli. The objectives of the study are to verify the effectiveness of the FEA models to simulate folding behavior and to investigate the influence of geometric parameters on folding quality. Equivalent mechanical pressure and surface stress are used as external loads in the FEA to simulate electric and magnetic fields, respectively. Compared quantitatively with experimental data, FEA captured the folding performance of electric actuation well for notched configurations and magnetic actuation for a bifold structure, but underestimated electric actuation for the bifold structure. By investigating the impact of geometric parameters and locations to place smart materials, FEA can be used in design, avoiding trial-and-error iterations of experiments.

High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

Science.gov (United States)

Gu, Guoying; Zhu, Limin

2010-08-01

In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

Directory of Open Access Journals (Sweden)

N. Ramos-Pedroza

2017-01-01

Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

Modular one-to-many clutchable actuator for a soft elbow exosuit.

Science.gov (United States)

Canesi, M; Xiloyannis, M; Ajoudani, A; Biechi, A; Masia, L

2017-07-01

Exoskeletons have been developed for a wide range of applications, from the military to the medical field, with the aim of augmenting human performance or compensating for neuromuscular deficiencies. However, to empower the high number of degrees of freedom of the human body, they often employ a high number of motors, increasing the size, weight and power consumption of the system. We hereby present an actuation strategy to empower our elbow exosuit that adopts a single motor to drive multiple, independently actuated, degrees of freedom. This paradigm, known as One-to-many, is achieved using a modular design where each module comprises a clutchable mechanism that allows to convert a single directional motion from the prime mover to a selectable bidirectional output. Moreover, the mechanism has a locking feature that enables the wearer of the exoskeleton to hold a static load with a minimal power consumption. We present a simple controller for the clutchable unit based on a finite-state machine model, and evaluate its performance for varying input velocities. The system is shown to have a bandwidth of 1.5 Hz, sufficient for daily elbow movements, whilst retaining a compact design.

Tunable smart digital structure (SDS) to modularly assemble soft actuators with layered adhesive bonding

Science.gov (United States)

Jin, Hu; Dong, Erbao; Xu, Min; Xia, Qirong; Liu, Shuai; Li, Weihua; Yang, Jie

2018-01-01

Many shape memory alloy (SMA)-based soft actuators have specific composite structures and manufacture processes, and are therefore unique. However, these exclusive characteristics limit their capabilities and applications, so in this article a soft and smart digital structure (SDS) is proposed that acts like a modular unit to assemble soft actuators by a layered adhesive bonding process. The SDS is a fully soft structure that encapsulates a digital skeleton consisting of four groups of parallel and independently actuated SMA wires capable of outputting a four-channel tunable force. The layered adhesive bonding process modularly bonds several SDSs with an elastic backbone to fabricate a layered soft actuator where the elastic backbone is used to recover the SDSs in a cooling process using the SMA wires. Two kinds of SDS-based soft actuators were modularly assembled, an actuator, SDS-I, with a two-dimensional reciprocal motion, and an actuator, SDS-II, capable of bi-directional reciprocal motion. The thermodynamics and phase transformation modeling of the SDS-based actuator were analyzed. Several extensional soft actuators were also assembled by bonding the SDS with an anomalous elastic backbone or modularly assembling the SDS-Is and SDS-IIs. These modularly assembled soft actuators delivered more output channels and a complicated motion, e.g., an actinomorphic soft actuator with four SDS-Is jumps in a series of hierarchical heights and directional movement by tuning the input channels of the SDSs. This result showed that the SDS can modularly assemble multifarious soft actuators with diverse capabilities, steerability and tunable outputs.

Telescoping cylindrical piezoelectric fiber composite actuator assemblies

Science.gov (United States)

Allison, Sidney G. (Inventor); Shams, Qamar A. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox Chattin, legal representative, Melanie L. (Inventor)

2010-01-01

A telescoping actuator assembly includes a plurality of cylindrical actuators in a concentric arrangement. Each cylindrical actuator is at least one piezoelectric fiber composite actuator having a plurality of piezoelectric fibers extending parallel to one another and to the concentric arrangement's longitudinal axis. Each cylindrical actuator is coupled to concentrically-adjacent ones of the cylindrical actuators such that the plurality of cylindrical actuators can experience telescopic movement. An electrical energy source coupled to the cylindrical actuators applies actuation energy thereto to generate the telescopic movement.

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.

Driving mechanisms of ionic polymer actuators having electric double layer capacitor structures.

Science.gov (United States)

Imaizumi, Satoru; Kato, Yuichi; Kokubo, Hisashi; Watanabe, Masayoshi

2012-04-26

Two solid polymer electrolytes, composed of a polyether-segmented polyurethaneurea (PEUU) and either a lithium salt (lithium bis(trifluoromethanesulfonyl)amide: Li[NTf2]) or a nonvolatile ionic liquid (1-ethyl-3-methylimidazolium bis(trifluoromethanesulfonyl)amide: [C2mim][NTf2]), were prepared in order to utilize them as ionic polymer actuators. These salts were preferentially dissolved in the polyether phases. The ionic transport mechanism of the polyethers was discussed in terms of the diffusion coefficients and ionic transference numbers of the incorporated ions, which were estimated by means of pulsed-field gradient spin-echo (PGSE) NMR. There was a distinct difference in the ionic transport properties of each polymer electrolyte owing to the difference in the magnitude of interactions between the cations and the polyether. The anionic diffusion coefficient was much faster than that of the cation in the polyether/Li[NTf2] electrolyte, whereas the cation diffused faster than the anion in the polyether/[C2mim][NTf2] electrolyte. Ionic polymer actuators, which have a solid-state electric-double-layer-capacitor (EDLC) structure, were prepared using these polymer electrolyte membranes and ubiquitous carbon materials such as activated carbon and acetylene black. On the basis of the difference in the motional direction of each actuator against applied voltages, a simple model of the actuation mechanisms was proposed by taking the difference in ionic transport properties into consideration. This model discriminated the behavior of the actuators in terms of the products of transference numbers and ionic volumes. The experimentally observed behavior of the actuators was successfully explained by this model.

Finite element analysis of displacement actuator based on giant magnetostrictive thin film

Directory of Open Access Journals (Sweden)

Shaopeng Yu

2018-05-01

Full Text Available With the rapid development of science and technology, mechanical and electrical equipment become more and more miniature. In order to achieve precise control in less than 1cm3, the giant magnetostrictive thin film has become a research hotspot. The micro displacement actuator with planar and arc film is designed by the dynamic coupling model based on J-A model and magneto-mechanical effect method which is proposed in this paper. The different structure and thickness of films are analyzed by COMSOL Multiphysics software when the current flows through driving coil. After comparing the simulation results with the test ones, it can be seen that the coupling model is accurate and the structure is reliable. At the same time, MATLAB is used to fit the current density-displacement curve and higher order equation is obtained, and then the feasibility of design can be verified. The actuator with arc structure had advantages of small volume, fast response, high precision, easy integration, etc., which has a broad application prospect in the field of vibration control, micro positioning, robot and so on.

Finite element analysis of displacement actuator based on giant magnetostrictive thin film

Science.gov (United States)

Yu, Shaopeng; Wang, Bowen; Zhang, Changgeng; Cui, Baozhi

2018-05-01

With the rapid development of science and technology, mechanical and electrical equipment become more and more miniature. In order to achieve precise control in less than 1cm3, the giant magnetostrictive thin film has become a research hotspot. The micro displacement actuator with planar and arc film is designed by the dynamic coupling model based on J-A model and magneto-mechanical effect method which is proposed in this paper. The different structure and thickness of films are analyzed by COMSOL Multiphysics software when the current flows through driving coil. After comparing the simulation results with the test ones, it can be seen that the coupling model is accurate and the structure is reliable. At the same time, MATLAB is used to fit the current density-displacement curve and higher order equation is obtained, and then the feasibility of design can be verified. The actuator with arc structure had advantages of small volume, fast response, high precision, easy integration, etc., which has a broad application prospect in the field of vibration control, micro positioning, robot and so on.

A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

Directory of Open Access Journals (Sweden)

Jobin Varghese

2017-07-01

Full Text Available Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance (ANOVA is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled. Keywords: Driven pulley, Flow control valve, Rotary, Pneumatic cylinder

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.

Rotational actuator of motor based on carbon nanotubes

Science.gov (United States)

Zettl, Alexander K.; Fennimore, Adam M.; Yuzvinsky, Thomas D.

2008-11-18

A rotational actuator/motor based on rotation of a carbon nanotube is disclosed. The carbon nanotube is provided with a rotor plate attached to an outer wall, which moves relative to an inner wall of the nanotube. After deposit of a nanotube on a silicon chip substrate, the entire structure may be fabricated by lithography using selected techniques adapted from silicon manufacturing technology. The structures to be fabricated may comprise a multiwall carbon nanotube (MWNT), two in plane stators S1, S2 and a gate stator S3 buried beneath the substrate surface. The MWNT is suspended between two anchor pads and comprises a rotator attached to an outer wall and arranged to move in response to electromagnetic inputs. The substrate is etched away to allow the rotor to freely rotate. Rotation may be either in a reciprocal or fully rotatable manner.

A flexible metallic actuator using reduced graphene oxide as a multifunctional component.

Science.gov (United States)

Meng, Junxing; Mu, Jiuke; Hou, Chengyi; Zhang, Qinghong; Li, Yaogang; Wang, Hongzhi

2017-09-14

Flexible actuators are widely in demand for many real-life applications. Considering that existing actuators based on polymers, low-dimensional materials and pore-rich materials are mostly limited by slow response rate, high driving voltage and poor stability, we report here a novel metal based flexible actuator which is fabricated simply through partial oxidation and nano-function of copper foil with the assistance of reduced graphene oxide. The obtained asymmetric metallic actuator is (electric-)thermally driven and exhibits fast response rate (∼2 s) and large curvature (2.4 cm -1 ) under a low voltage (∼1 V) with a sustainable operation of up to ∼50 000 cycles. The actuator can also be triggered by infrared irradiation and direct-heating under various conditions including air, water, and vacuum.

Robust Tracking Control for a Piezoelectric Actuator

National Research Council Canada - National Science Library

Salah, M; McIntyre, M; Dawson, D; Wagner, J

2006-01-01

In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

Pneumatic Muscle Actuated Rehabilitation Equipment of the Upper Limb Joints

Science.gov (United States)

Deaconescu dr. eng. habil., Andrea, Prof.

2017-06-01

Rehabilitation equipment of the upper limb joints holds a key role in passive physical therapy. Within this framework, the paper presents two such pieces of equipment developed for the rehabilitation of elbow and of wrist and knuckles, respectively. The presented and discussed equipment is actuated by pneumatic muscles, its benefits being a low cost, simple and robust construction, as well as short response time to commands.

Clean room actuators

Energy Technology Data Exchange (ETDEWEB)

Higuchi, Toshiro

1987-06-01

This report explains on the present status of the clean room actuators including the author's research results. In a clean room, there exists a possibility of dust generation, even when a direct human work is eliminated by the use of robots or automatic machines, from the machines themselves. For this, it is important to develop such clean robots and transfer/positioning mechanism that do not generate dusts, and to develop an actuator and its control technique. Topics described in the report are as follows: 1. Prevention of dust diffusion by means of sealing. 2. Elimination of mechanical contact (Linear induction motor and pneumatic float, linear motor and magnetic attraction float, linear motor and air bearing, and magnetic bearing). 3. Contactless actuator having a positioning mechanism (Use of linear step motor and rotary contactless actuator). (15 figs, 11 refs)

Wide-bandwidth bilateral control using two-stage actuator system

International Nuclear Information System (INIS)

Kokuryu, Saori; Izutsu, Masaki; Kamamichi, Norihiro; Ishikawa, Jun

2015-01-01

This paper proposes a two-stage actuator system that consists of a coarse actuator driven by a ball screw with an AC motor (the first stage) and a fine actuator driven by a voice coil motor (the second stage). The proposed two-stage actuator system is applied to make a wide-bandwidth bilateral control system without needing expensive high-performance actuators. In the proposed system, the first stage has a wide moving range with a narrow control bandwidth, and the second stage has a narrow moving range with a wide control bandwidth. By consolidating these two inexpensive actuators with different control bandwidths in a complementary manner, a wide bandwidth bilateral control system can be constructed based on a mechanical impedance control. To show the validity of the proposed method, a prototype of the two-stage actuator system has been developed and basic performance was evaluated by experiment. The experimental results showed that a light mechanical impedance with a mass of 10 g and a damping coefficient of 2.5 N/(m/s) that is an important factor to establish good transparency in bilateral control has been successfully achieved and also showed that a better force and position responses between a master and slave is achieved by using the proposed two-stage actuator system compared with a narrow bandwidth case using a single ball screw system. (author)

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

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

Science.gov (United States)

Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

2008-08-01

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

Behavior of ionic conducting IPN actuators in simulated space conditions

Science.gov (United States)

Fannir, Adelyne; Plesse, Cédric; Nguyen, Giao T. M.; Laurent, Elisabeth; Cadiergues, Laurent; Vidal, Frédéric

2016-04-01

The presentation focuses on the performances of flexible all-polymer electroactive actuators under space-hazardous environmental factors in laboratory conditions. These bending actuators are based on high molecular weight nitrile butadiene rubber (NBR), poly(ethylene oxide) (PEO) derivative and poly(3,4-ethylenedioxithiophene) (PEDOT). The electroactive PEDOT is embedded within the PEO/NBR membrane which is subsequently swollen with an ionic liquid as electrolyte. Actuators have been submitted to thermal cycling test between -25 to 60°C under vacuum (2.4 10-8 mbar) and to ionizing Gamma radiations at a level of 210 rad/h during 100 h. Actuators have been characterized before and after space environmental condition ageing. In particular, the viscoelasticity properties and mechanical resistance of the materials have been determined by dynamic mechanical analysis and tensile tests. The evolution of the actuation properties as the strain and the output force have been characterized as well. The long-term vacuuming, the freezing temperature and the Gamma radiations do not affect significantly the thermomechanical properties of conducting IPNs actuators. Only a slight decrease on actuation performances has been observed.

Development of an all-metal electrothermal actuator and its applications

Science.gov (United States)

Luo, JiKui; He, Johnny H.; Flewitt, Andrew J.; Moore, David F.; Spearing, S. Mark; Fleck, Norman A.; Milne, Williams I.

2004-01-01

The in-plane motion of microelectrothermal actuator ("heatuator") has been analysed for Si-based and metallic devices. It was found that the lateral deflection of a heatuator made of a Ni-metal is about ~60% larger than that of a Si-based actuator under the same power consumption. Metals are much better for thermal actuators as they provide a relatively large deflection and large force, for a low operating temperature, and power consumption. Electroplated Ni films were used to fabricate heatuators. The electrical and mechanical properties of electroplated Ni thin films have been investigated as a function of temperature and plating current density, and the process conditions have been optimised to obtain stress-free films suitable for MEMS applications. Lateral thermal actuators have been successfully fabricated, and electrically tested. Microswitches and microtweezers utilising the heatuator have also been fabricated and tested.

Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

Directory of Open Access Journals (Sweden)

Tapio Veli Juhani Tarvainen

2017-09-01

Full Text Available During recent years, interest has been rising towards developing fluidic fiber-reinforced elastomer actuators for wearable soft robotics used in hand rehabilitation and power-assist. However, they do not enable finger abduction-adduction, which plays an important role in activities of daily living, when grasping larger objects. Furthermore, the developed gloves often do not have separate control of joints, which is important for doing various common rehabilitation motions. The main obstacle for the development of a fully-assisting glove is moving a joint with multiple degrees of freedom. If the functions are built into the same structure, they are naturally coupled and affect each other, which makes them more difficult to design and complex to control than a simple flexion-extension actuator. In this study, we explored the key design elements and fabrication of pneumatic multi-pocket elastomer actuators for a soft rehabilitation glove. The goal was to gain more control over the metacarpophalangeal joint’s response by increasing the degree of actuation. Three main functional designs were tested for achieving both flexion and abduction-adduction. Five prototypes, with four different actuator geometries and four different reinforcement types, were designed and fabricated. They were evaluated by recording their free motion with motion capture and measuring their torque output using a dummy finger. Results showed the strengths and weaknesses of each design in separating the control of the two functions. We discuss the different improvements that are needed in order to make each design plausible for developing an actuator that meets the requirements for full assist of the hand’s motions. In conclusion, we show that it is possible to produce multi-pocket actuators for assisting MCP joint motion in both flexion and abduction-adduction, although coupling between the separate functions is still problematic and should be considered further.

One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust

International Nuclear Information System (INIS)

Yoon, Jae-San; Han, Jae-Hung

2014-01-01

Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results. (paper)

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.

Smart actuation of inlet guide vanes for small turbine engine

Science.gov (United States)

Rusovici, Razvan; Kwok Choon, Stephen T.; Sepri, Paavo; Feys, Joshuo

2011-04-01

Unmanned Aerial Vehicles (UAVs) have gained popularity over the past few years to become an indispensable part of aerial missions that include reconnaissance, surveillance, and communication [1]. As a result, advancements in small jet-engine performance are needed to increase the performance (range, payload and efficiency) of the UAV. These jet engines designed especially for UAV's are characterized by thrust force on the order of 100N and due to their size and weight limitations, may lack advanced flow control devices such as IGV [2]. The goal of the current study was to present a conceptual design of an IGV smart-material based actuation mechanism that would be simple, compact and lightweight. The compressor section of an engine increases the pressure and conditions the flow before the air enters the combustion chamber [3]. The airflow entering the compressor is often turbulent due to the high angle of incidence between engine inlet and free-stream velocity, or existing atmospheric turbulence. Actuated IGV are used to help control the relative angle of incidence of the flow that enters the engine compressor, thereby preventing flow separation, compressor stall and thus extending the compressor's operating envelope [4]. Turbine jet- engines which employ variable IGV were developed by Rolls Royce (Trent DR-900) and General Electric (J79).

Modelling and characterization of dielectric elastomer stack actuators

International Nuclear Information System (INIS)

Haus, Henry; Matysek, Marc; Mößinger, Holger; Schlaak, Helmut F

2013-01-01

This paper aims to establish and evaluate an electrical and mechanical model for dielectric elastomer stack actuators. Based on the structure of an electrically interconnected actuator a simplified electrical and mechanical network is deduced. The electrical model results in a low-pass filter. The model is evaluated by measurements of the electrical impedance and contact, electrode and parallel resistances. Measurement results show good agreement of the model with the electrical behaviour of the real actuator over a wide frequency range, from below 0.1 Hz to above 10 kHz. The mechanical modelling is split into dynamic and static behaviour. The dynamic mechanical behaviour is modelled as a mechanical equivalent network using fractional elements. The static mechanical model uses the uniaxial compressive modulus of the actuator material to describe the static characteristic. The combination of static and dynamic models allows a realistic prediction of the static and dynamic deflection of the actuators under an applied electrical voltage. This electro-mechanical model has been validated in a frequency range of 4 Hz to 4 kHz. (paper)

Composite multi-modal vibration control for a stiffened plate using non-collocated acceleration sensor and piezoelectric actuator

International Nuclear Information System (INIS)

Li, Shengquan; Li, Juan; Mo, Yueping; Zhao, Rong

2014-01-01

A novel active method for multi-mode vibration control of an all-clamped stiffened plate (ACSP) is proposed in this paper, using the extended-state-observer (ESO) approach based on non-collocated acceleration sensors and piezoelectric actuators. Considering the estimated capacity of ESO for system state variables, output superposition and control coupling of other modes, external excitation, and model uncertainties simultaneously, a composite control method, i.e., the ESO based vibration control scheme, is employed to ensure the lumped disturbances and uncertainty rejection of the closed-loop system. The phenomenon of phase hysteresis and time delay, caused by non-collocated sensor/actuator pairs, degrades the performance of the control system, even inducing instability. To solve this problem, a simple proportional differential (PD) controller and acceleration feed-forward with an output predictor design produce the control law for each vibration mode. The modal frequencies, phase hysteresis loops and phase lag values due to non-collocated placement of the acceleration sensor and piezoelectric patch actuator are experimentally obtained, and the phase lag is compensated by using the Smith Predictor technology. In order to improve the vibration control performance, the chaos optimization method based on logistic mapping is employed to auto-tune the parameters of the feedback channel. The experimental control system for the ACSP is tested using the dSPACE real-time simulation platform. Experimental results demonstrate that the proposed composite active control algorithm is an effective approach for suppressing multi-modal vibrations. (paper)

Actuation Characteristics of 0.15mm Diameter Flexinol® and Biometal ® Wire Actuators for Robotic Applications

Directory of Open Access Journals (Sweden)

Jawaid Daudpoto

2013-01-01

Full Text Available In this paper the actuation properties of two NiTi (Nickel Titanium SMA (Shape Memory Alloy actuators available under the commercial names of Flexinol ® and Biometal ® are investigated and compared with each other. Both actuators have diameter of 0.15mm and transformation temperature of 70 o C. The diameter of 0.15mm is selected because of best combination of force and cooling time. An experimental test rig specially designed and developed by the first author was used to conduct tests on the actuators. Both actuators were tested by supplying actuation voltages of 5 and 5.5V. Actuators were thermomechanically loaded for 100 cycles and their strains were recorded. The results of the tests show that 5.5V actuation resulted in greater strain. It was found from the test results that Biometal ® actuators produced more strain as compared to Flexinol ® actuators for both the actuation voltages. However, the drift results showed that higher strains in Biometal ® are due the permanent deformation of the same. This shows that Flexinol ® actuators possess better actuation characteristics as compared to Biometal ® actuators.

Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics

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Philipp Beckerle

2017-09-01

Full Text Available Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy.

Hysteresis compensation for piezoelectric actuators in single-point diamond turning

Science.gov (United States)

Wang, Haifeng; Hu, Dejin; Wan, Daping; Liu, Hongbin

2006-02-01

In recent years, interests have been growing for fast tool servo (FTS) systems to increase the capability of existing single-point diamond turning machines. Although piezoelectric actuator is the most universal base of FTS system due to its high stiffness, accuracy and bandwidth, nonlinearity in piezoceramics limits both the static and dynamic performance of piezoelectric-actuated control systems evidently. To compensate the nonlinear hysteresis behavior of piezoelectric actuators, a hybrid model coupled with Preisach model and feedforward neural network (FNN) has been described. Since the training of FNN does not require a special calibration sequence, it is possible for on-line identification and real-time implementation with general operating data of a specific piezoelectric actuator. To describe the rate dependent behavior of piezoelectric actuators, a hybrid dynamic model was developed to predict the response of piezoelectric actuators in a wider range of input frequency. Experimental results show that a maximal error of less than 3% was accomplished by this dynamic model.

Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators

International Nuclear Information System (INIS)

Khalili, N; Naguib, H E; Kwon, R H

2014-01-01

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)

Fault-tolerant rotary actuator

Science.gov (United States)

Tesar, Delbert

2006-10-17

A fault-tolerant actuator module, in a single containment shell, containing two actuator subsystems that are either asymmetrically or symmetrically laid out is provided. Fault tolerance in the actuators of the present invention is achieved by the employment of dual sets of equal resources. Dual resources are integrated into single modules, with each having the external appearance and functionality of a single set of resources.

Switch-mode High Voltage Drivers for Dielectric Electro Active Polymer (DEAP) Incremental Actuators

DEFF Research Database (Denmark)

Thummala, Prasanth

voltage DC-DC converters for driving the DEAP based incremental actuators. The DEAP incremental actuator technology has the potential to be used in various industries, e.g., automotive, space and medicine. The DEAP incremental actuator consists of three electrically isolated and mechanically connected...

Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

Science.gov (United States)

Zhou, Zhiqiang

2010-01-01

The accuracy of spacecraft attitude control using magnetic actuators only is low and on the order of 0.4-5 degrees. The key reason is that the magnetic torque is two-dimensional and it is only in the plane perpendicular to the magnetic field vector. In this paper novel attitude control algorithms using the combination of magnetic actuators with Reaction Wheel Assembles (RWAs) or other types of actuators, such as thrusters, are presented. 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 RWAs based attitude control. The algorithms are also useful for the RWAs 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.

Modeling and comparison of superconducting linear actuators for highly dynamic motion

Directory of Open Access Journals (Sweden)

Bruyn B.J.H. de

2015-12-01

Full Text Available This paper presents a numerical modeling method for AC losses in highly dynamic linear actuators with high temperature superconducting (HTS tapes. The AC losses and generated force of two actuators, with different placement of the cryostats, are compared. In these actuators, the main loss component in the superconducting tapes are hysteresis losses, which result from both the non-sinusoidal phase currents and movement of the permanent magnets. The modeling method, based on the H-formulation of the magnetic fields, takes into account permanent magnetization and movement of permanent magnets. Calculated losses as function of the peak phase current of both superconducting actuators are compared to those of an equivalent non-cryogenic actuator.

A solid state actuator based on polypyrrole (PPy) and a solid electrolyte NBR working in air

Science.gov (United States)

Cho, Misuk; Nam, Jaedo; Choi, Hyouk Ryeol; Koo, Jachoon; Lee, Youngkwan

2005-05-01

The solid polymer electrolyte based conducting polymer actuator was presented. In the preparation of acutuator module, an ionic liquid impregnated a synthetic rubber (NBR) and PPy were used as a solid polymer electrolyte and conducting polymer, respectively. An ionic liquid, 1-butyl-3-methylimidazolium bis (trifluoromethyl sulfonyl)imide (BMITFSI) is gradually dispersed into the NBR film and the conducting polymer, PPy was synthesized on the surface of NBR. The ionic conductivity of new type solid polymer electrolyte as a function of the immersion time was investigated. The cyclic voltammetry responsed and the redox switching dynamics of PEDOT in NBR matrix were studied. The displacement of the actuator was measured by laser beam.

Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator.

Science.gov (United States)

Kim, Sung Hoon; Shin, Kyoosik; Hashi, Shuichiro; Ishiyama, Kazushi

2012-09-01

This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities.

Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator

International Nuclear Information System (INIS)

Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi; Shin, Kyoosik

2012-01-01

This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities. (paper)

A tubular dielectric elastomer actuator: Fabrication, characterization and active vibration isolation

DEFF Research Database (Denmark)

Sarban, R.; Jones, R. W.; Mace, B. R.

2011-01-01

This contribution reviews the fabrication, characterization and active vibration isolation performance of a core-free rolled tubular dielectric elastomer (DE) actuator, which has been designed and developed by Danfoss PolyPower A/S. PolyPower DE material, PolyPower (TM), is produced in thin sheets...... of 80 mu m thickness with corrugated metallic electrodes on both sides. Tubular actuators are manufactured by rolling the DE sheets in a cylindrical shape. The electromechanical characteristics of such actuators are modeled based on equilibrium pressure equation. The model is validated with experimental...... the dominant dynamic characteristics of the core-free tubular actuator. It has been observed that all actuators have similar dynamic characteristics in a frequency range up to 1 kHz. A tubular actuator is then used to provide active vibration isolation (AVI) of a 250 g mass subject to shaker generated 'ground...

Design and Development of Autonomous High Voltage Driving System for DEAP Actuator in Radiator Thermostat

DEFF Research Database (Denmark)

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

2014-01-01

In radiator thermostat applications, DEAP (Dielectric Electro Active Polymer) actuator tends to be a good candidate to replace the conventional self-actuating or step motor based actuator due to its intrinsic advantages. The capacitive property and high voltage (HV) driving demand of DEAP actuator...

A nonlinear model for ionic polymer metal composites as actuators

Science.gov (United States)

Bonomo, C.; Fortuna, L.; Giannone, P.; Graziani, S.; Strazzeri, S.

2007-02-01

This paper introduces a comprehensive nonlinear dynamic model of motion actuators based on ionic polymer metal composites (IPMCs) working in air. Significant quantities ruling the acting properties of IPMC-based actuators are taken into account. The model is organized as follows. As a first step, the dependence of the IPMC absorbed current on the voltage applied across its thickness is taken into account; a nonlinear circuit model is proposed to describe this relationship. In a second step the transduction of the absorbed current into the IPMC mechanical reaction is modelled. The model resulting from the cascade of both the electrical and the electromechanical stages represents a novel contribution in the field of IPMCs, capable of describing the electromechanical behaviour of these materials and predicting relevant quantities in a large range of applied signals. The effect of actuator scaling is also investigated, giving interesting support to the activities involved in the design of actuating devices based on these novel materials. Evidence of the excellent agreement between the estimations obtained by using the proposed model and experimental signals is given.

Actuating movement in refined wearables

NARCIS (Netherlands)

Toeters, M.J.; Feijs, L.M.G.

2014-01-01

Nowadays it is quite possible to deploy textiles as sensors and avoid traditional hard sensors. Actuation (movement) turns out more difficult. It is advantageous to combine sensing and actuation, similar to ecological perception theory. Although several actuators are known: SMA, voice coil, motors,

A new amplifier for improving piezoelectric actuator linearity based on current switching in precision positioning

International Nuclear Information System (INIS)

Ru, Changhai; Chen, Liguo; Shao, Bing; Rong, Weibin; Sun, Lining

2008-01-01

Piezoelectric actuators have traditionally been driven by voltage amplifiers. When driven at large voltages these actuators exhibit a significant amount of distortion, known as hysteresis, which may reduce the stability robustness of the system in feedback control applications. Piezoelectric transducers are known to exhibit less hysteresis when driven with current or charge rather than voltage. Despite this advantage, such methods have found little practical application due to the poor low frequency response of present current and charge driver designs. In this paper, a new piezoelectric amplifier based on current switching is presented which can reduce hysteresis. Special circuits and a hybrid control algorithm realize quick and precise positioning. Experimental results demonstrate that the amplifier can be used for dynamic and static applications and low frequency bandwidths can also be achieved

Conjugated Polymers as Actuators: Modes of Actuation

DEFF Research Database (Denmark)

Skaarup, Steen

2004-01-01

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...

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...

Stabilisation of a three-dimensional boundary layer by base-flow manipulation using plasma actuators

International Nuclear Information System (INIS)

Dörr, P C; Kloker, M J

2015-01-01

The applicability of dielectric barrier discharge plasma actuators for controlling the crossflow-vortex-induced laminar breakdown in a three-dimensional swept-wing-type boundary-layer flow is investigated using direct numerical simulation. Similar to the classical application of suction at the wall the aim is to modify the quasi two-dimensional base flow and to weaken primary crossflow (CF) instability, mainly due to a reduction of the basic CF. Not only localised volumetric forcing by plasma actuators but also CF counter-blowing and spots with a moving wall are investigated to identify effective fundamental mechanisms. It is found that counter blowing always results in partial blockage of the flow and eventually increased CF velocity, whereas moving-wall spots can slightly reduce the CF and the amplitude of crossflow vortices. Using discrete volumetric forcing a significant attenuation even of finite-amplitude crossflow vortices and thus a distinct transition delay is achieved. (paper)

Controllable helical deformations on printed anisotropic composite soft actuators

Science.gov (United States)

Wang, Dong; Li, Ling; Serjouei, Ahmad; Dong, Longteng; Weeger, Oliver; Gu, Guoying; Ge, Qi

2018-04-01

Helical shapes are ubiquitous in both nature and engineering. However, the development of soft actuators and robots that mimic helical motions has been hindered primarily due to the lack of efficient modeling approaches that take into account the material anisotropy and the directional change of the external loading point. In this work, we present a theoretical framework for modeling controllable helical deformations of cable-driven, anisotropic, soft composite actuators. The framework is based on the minimum potential energy method, and its model predictions are validated by experiments, where the microarchitectures of the soft composite actuators can be precisely defined by 3D printing. We use the developed framework to investigate the effects of material and geometric parameters on helical deformations. The results show that material stiffness, volume fraction, layer thickness, and fiber orientation can be used to control the helical deformation of a soft actuator. In particular, we found that a critical fiber orientation angle exists at which the twist of the actuator changes the direction. Thus, this work can be of great importance for the design and fabrication of soft actuators with tailored deformation behavior.

Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.

Science.gov (United States)

Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai

2013-11-01

Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

Science.gov (United States)

Shepherd, Robert

2014-03-01

Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

Distributed illumination control with local sensing and actuation in networked lighting systems

NARCIS (Netherlands)

Caicedo Fernandez, D.R.; Pandharipande, A.

2013-01-01

We consider the problem of illumination control in a networked lighting system wherein luminaires have local sensing and actuation capabilities. Each luminaire (i) consists of a light emitting diode (LED) based light source dimmable by a local controller, (ii) is actuated based on sensing