Relevant bibliographies by topics / Actuators

Academic literature on the topic 'Actuators'

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Published: 4 June 2021
Last updated: 1 August 2024

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Journal articles on the topic "Actuators"

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Bazghaleh, Mohsen, Steven Grainger, and Morteza Mohammadzaheri. "A review of charge methods for driving piezoelectric actuators." Journal of Intelligent Material Systems and Structures 29, no. 10 (October 11, 2017): 2096–104. http://dx.doi.org/10.1177/1045389x17733330.

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Piezoelectric actuators are the most commonly used actuators in nanopositioning. They provide excellent operating bandwidth and precision. These actuators are normally driven by voltage amplifiers; however, the relationship of the applied voltage on the actuator and its position is nonlinear and complex due to phenomena such as hysteresis. This adversely influences actuator’s position control which is the core component of nanopositioning. However, the electrical charge applied on a piezoelectric actuator has a significantly less complex relationship with its position. As a result, driving piezoelectric actuators with charge amplifiers has attracted significant attention. In this article, charge driving methods are classified, and their advantages, major issues and the solutions to these issues are critically reviewed.
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Md Ghazaly, Mariam, Tan Aik Choon, Che Amran Aliza, and Sato Kaiji. "Force Characterization of a Rotary Motion Electrostatic Actuator Based on Finite Element Method (FEM) Analysis." Applied Mechanics and Materials 761 (May 2015): 233–37. http://dx.doi.org/10.4028/www.scientific.net/amm.761.233.

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Two types of rotary motion electrostatic actuators were designed and analyzed using Finite Element Method (FEM) analysis. This paper discussed the comparisons and detailed thrust force analysis of the two actuators. Both designs have similar specifications; i.e the number of rotor’s teeth to stator’s teeth ratio, radius and thickness of rotor, and gap between stator and rotor. Two structures were designed & evaluated; (a) Side-Driven Electrostatic Actuator and (b) Bottom-Driven Electrostatic Actuator. The paper focuses on comparing & analyzing the generated electrostatic thrust force for both designs when the electrostatic actuator’s parameters are varied. Ansys Maxwell 3D software is used to design and analyze the generated thrust force of the two rotary motion electrostatic actuators. The FEM analyses have been carried out by (i) varying the actuator size; (ii), varying the actuator thickness and (iii) varying the actuator teeth ratio. The FEM analysis shows that the Bottom-Drive Electrostatic Actuator exhibit greater thrust force, 4931.80μN compared to the Side-Drive Electrostatic Actuator, 240.96μN; when the actuator’s radius is 700μm, thickness is 50μm, gap between the stator and rotor is 2μm and the teeth ratio is 16:12.
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Shao, Zhaowen, Wentao Zhao, Zhaotian Zuo, and Jun Li. "Evolution from Telescoping to Bending: An Origami-Inspired Flexible Bending Actuator." Applied Bionics and Biomechanics 2023 (June 26, 2023): 1–11. http://dx.doi.org/10.1155/2023/5522710.

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Soft actuators have great potential in human–machine interaction and soft robotics innovation. Origami exhibiting outstanding structural and topological properties can be a paradigm for people to design various soft robots. Inspired by origami, we have previously designed a telescopic actuator with excellent performance, mainly large force output, and two-way working. Although significant advances have been made in soft bending actuators, their further study and applications are limited due to small force output in a monotonous work style. In this paper, we design a series of novel bending actuators that inherit our prior telescopic actuator’s excellent characteristics to diversify soft actuators’ motion forms. Several actuators of different sizes are fabricated using three different materials and evaluated on a designed test platform. The test results show that actuators of different sizes using different materials perform differently. Namely, the maximum tip force produced by an actuator reaches 9.6 N, and the maximum bending angle is achieved by another one up to 138°. Finally, extensive demonstrations and tests include wriggling, gripping, and bidirectional motion in the water. They show our flexible bending actuators’ distinguishing characteristics of large output force and two-way working.
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Shao, Zhaowen, Wentao Zhao, Zhaotian Zuo, Jun Li, and I.-Ming Chen. "An Origami-Inspired Negative Pressure Folding Actuator Coupling Hardness with Softness." Actuators 12, no. 1 (January 10, 2023): 35. http://dx.doi.org/10.3390/act12010035.

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Soft actuators have a high potential for the creative design of flexible robots and safe human–robot interaction. So far, significant progress has been made in soft actuators’ flexibility, deformation amplitude, and variable stiffness. However, there are still deficiencies in output force and force retention. This paper presents a new negative pressure-driven folding flexible actuator inspired by origami. First, we establish a theoretical model to predict such an actuator’s output force and displacement under given pressures. Next, five actuators are fabricated using three different materials and evaluated on a test platform. The test results reveal that one actuator generates a maximum pull force of 1125.9 N and the maximum push force of 818.2 N, and another outputs a full force reaching 600 times its weight. Finally, demonstrative experiments are conducted extensively, including stretching, contracting, clamping, single-arm power assistance, and underwater movement. They show our actuators’ performance and feature coupling hardness with softness, e.g., large force output, strong force retention, two-way working, and even muscle-like explosive strength gaining. The existing soft actuators desire these valuable properties.
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Pimpin, Alongkorn, Eakayoot Wongweerayoot, and Werayut Srituravanich. "Two-Step Electroplating Process in Fabrication of Thermal Bimorph Cantilever Actuator for Flow Control Application." Applied Mechanics and Materials 225 (November 2012): 367–71. http://dx.doi.org/10.4028/www.scientific.net/amm.225.367.

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This work proposes a novel and simple fabrication process of a nickel-copper thermal bimorph actuator. This new fabrication process employs only two-step electroplating technique that is easy, cheap and compatible for various materials. In this study, the total thickness of fabricated cantilever actuator is around 80 μm, i.e. 30±10 and 50±10 μm for nickel and copper, respectively, and its length is equal to 22.5 mm. For actuator’s width, it is varied as 258±7, 351±7 and 447±7 μm. After heating by applying current through the actuator’s structure, the actuator bends up due to the elongation mismatch between copper and nickel elements. It is found that the deflection becomes larger for a narrower actuator. From the experiments, the deflection at current of 2.5A for 258±7 μm wide actuator is approximately equal to 4 mm. In addition, the response of all actuators is faster than 1 Hz. With obtained large deflection and fast response, the fabricated actuators are viable to employ for flow control applications.
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Kanchan, Mithun, Mohith Santhya, Ritesh Bhat, and Nithesh Naik. "Application of Modeling and Control Approaches of Piezoelectric Actuators: A Review." Technologies 11, no. 6 (November 1, 2023): 155. http://dx.doi.org/10.3390/technologies11060155.

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Piezoelectric actuators find extensive application in delivering precision motion in the micrometer to nanometer range. The advantages of a broader range of motion, rapid response, higher stiffness, and large actuation force from piezoelectric actuators make them suitable for precision positioning applications. However, the inherent nonlinearity in the piezoelectric actuators under dynamic working conditions severely affects the accuracy of the generated motion. The nonlinearity in the piezoelectric actuators arises from hysteresis, creep, and vibration, which affect the performance of the piezoelectric actuator. Thus, there is a need for appropriate modeling and control approaches for piezoelectric actuators, which can model the nonlinearity phenomenon and provide adequate compensation to achieve higher motion accuracy. The present review covers different methods adopted for overcoming the nonlinearity issues in piezoelectric actuators. This review highlights the charge-based and voltage-based control methods that drive the piezoelectric actuators. The survey also includes different modeling approaches for the creep and hysteresis phenomenon of the piezoelectric actuators. In addition, the present review also highlights different control strategies and their applications in various types of piezoelectric actuators. An attempt is also made to compare the piezoelectric actuator’s different modeling and control approaches and highlight prospects.
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Zhong, Bowen, Zhan Liao, Xi Zhang, Ziqi Jin, and Lining Sun. "Modeling of Rapid Response Characteristics of Piezoelectric Actuators for Ultra-Precision Machining." Materials 16, no. 6 (March 11, 2023): 2272. http://dx.doi.org/10.3390/ma16062272.

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Piezoelectric actuators are characterized by high positioning accuracy, high stiffness and a fast response and are widely used in ultra-precision machining technologies such as fast tool servo technology and ultrasonic machining. The rapid response characteristics of piezoelectric actuators often determine the overall quality of machining. However, there has been little research on the fast response characteristics of piezoelectric actuators, and this knowledge gap will lead to low precision and poor quality of the final machining. The fast response characteristics of a piezoelectric actuator were studied in this work. Firstly, the piezoelectric actuator was divided into a no-load state and a load state according to the working state. A fast response analysis and output characteristic analysis were carried out, the corresponding dynamic model was established, and then the model was simulated. Finally, an experimental system was established to verify the dynamic model of the piezoelectric actuator’s fast response by conducting an experiment in which the piezoelectric actuator bounces a steel ball. The experimental results verify the correctness of the model and show that the greater the cross-sectional area and height of the piezoelectric actuator, the higher the bouncing height of the ball, and the better the dynamic performance of the piezoelectric actuator. It is believed that this study has guiding significance for the application of the dynamic characteristics of piezoelectric actuators in the machining field.
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MOEENFARD, HAMID, ALI DARVISHIAN, and MOHAMMAD TAGHI AHMADIAN. "ANALYTICAL MODELING OF THE EFFECTS OF ELECTROSTATIC ACTUATION AND CASIMIR FORCE ON THE PULL-IN INSTABILITY AND STATIC BEHAVIOR OF TORSIONAL NANO/MICRO ACTUATORS." International Journal of Modern Physics B 27, no. 06 (February 5, 2013): 1350008. http://dx.doi.org/10.1142/s0217979213500082.

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This paper studies the effect of Casimir force on the pull-in instability of electrostatically actuated torsional nano/micro actuators. Dependence of the actuator's pull-in angle and pull-in voltage on several design parameters are investigated and it is found that Casimir force can considerably reduce the stability limits of the torsional actuators. Nonlinear equilibrium equation is solved numerically and analytically using straight forward perturbation expansion method. It is observed that a fourth-order perturbation approximation can precisely model the behavior of a torsional actuator. The results of this paper can be used for safe and stable design of torsional nano/micro actuators.
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Elsherif, AR, M. I. Awad, S. A. Maged, and A. Ramzy. "Design and development of dual-acting soft actuator for assistance and rehabilitation of finger flexion and extension." Journal of Physics: Conference Series 2299, no. 1 (July 1, 2022): 012012. http://dx.doi.org/10.1088/1742-6596/2299/1/012012.

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Abstract The powerfulness of Soft robotic systems is relied to the safe performance. In addition to other advantages: the flexibility and deformability. Developing an assistive tool for Hand rehabilitation through soft pneumatic actuated hand gloves is an improved and suitable way for helping post stroke subjects. The Pneumatic network (Pneu-Net) actuators are soft actuators composed of pneumatic chambers actuates when pressurised with air. Dual acting soft pneumatic Pneu-Net actuator is developed as a part for building the glove, the actuator is designed for assisting both finger flexion and extension motions. Pneumatic network (Pneu-net) actuator is developed and design geometry effect is studied, mainly the influence of the dual actuators on each other in addition to the effect of the number of air chambers per each actuator. Design selection based on the finite element analysis and experimental testing, bending angle and energy efficiency parameters in addition to comfort and safe performance are the main criteria of concern.
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Cao, Kai, Renyuan Xie, Jianmin Zhou, Xiaowei Zhang, Jingji Wang, and Shuang Li. "Optimizing the Location of the Piezoelectric Actuator and Analyzing Its Effect on the Dynamics of Asymmetric Flexible Spacecraft." Aerospace 10, no. 8 (August 16, 2023): 716. http://dx.doi.org/10.3390/aerospace10080716.

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To address the challenge of optimizing the placement of actuators on an asymmetric spacecraft continuum system, this paper develops a rigid–flexible electromechanical coupling dynamic model that integrates the interactions among rigidity, flexibility, and electromechanical coupling effects. The model is constructed using ordinary differential equations and partial differential equations (ODE–PDEs) and considers the effects of the installation position and physical characteristics (mass and stiffness) of the piezoelectric (PZT) actuator on an asymmetric flexible spacecraft continuum system. The proposed model aims to accurately capture the complex interactions among the rigid body, flexible appendages, and PZT actuators. Based on the developed model, the installation location of the actuators is optimized using a genetic algorithm with a hybrid optimization criterion. In the numerical simulations, the proposed optimization algorithm is employed to determine the optimal installation position for the actuators. Then, the influence of the actuator’s physical characteristics and installation position on the dynamic properties of the spacecraft and the performance of the control system is investigated. The numerical simulation results demonstrate that the optimization algorithm can effectively identify the appropriate actuator installation location for the desired application. Utilizing the actuator with the optimized position allows for effective vibration suppression while consuming less energy.
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Dissertations / Theses on the topic "Actuators"

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Potami, Raffaele. "Optimal sensor/actuator placement and switching schemes for control of flexible structures." Worcester, Mass. : Worcester Polytechnic Institute, 2008. http://www.wpi.edu/Pubs/ETD/Available/etd-042808-124333/.

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Dissertation (Ph.D.)--Worcester Polytechnic Institute.
Keywords: hybrid system, PZT actuators, performance enchancement, actuator placement, actuator switching. Includes bibliographical references (leaves 102-108).
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Orekhov, Viktor Leonidovich. "Series Elasticity in Linearly Actuated Humanoids." Diss., Virginia Tech, 2015. http://hdl.handle.net/10919/71788.

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Recent advancements in actuator technologies, computation, and control have led to major leaps in capability and have brought humanoids ever closer to being feasible solutions for real-world applications. As the capabilities of humanoids increase, they will be called on to operate in unstructured real world environments. This realization has driven researchers to develop more dynamic, robust, and adaptable robots. Compared to state-of-the-art robots, biological systems demonstrate remarkably better efficiency, agility, adaptability, and robustness. Many recent studies suggest that a core principle behind these advantages is compliance, yet there are very few compliant humanoids that have demonstrated successful walking. The work presented in this dissertation is based on several years of developing novel actuators for two full-scale linearly actuated compliant humanoid robots, SAFFiR and THOR. Both are state-of-the-art robots intended to operate in the extremely challenging real world scenarios of shipboard firefighting and disaster response. The design, modeling, and control of actuators in robotics application is critical because the rest of the robot is often designed around the actuators. This dissertation seeks to address two goals: 1) advancing the design of compliant linear actuators that are well suited for humanoid applications, and 2) developing a better understanding of how to design and model compliant linear actuators for use in humanoids. Beyond just applications for compliant humanoids, this research tackles many of the same design and application challenges as biomechanics research so it has many potential applications in prosthetics, exoskeletons, and rehabilitation devices.
Ph. D.
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Broström, Carl. "Development of Tactile Actuators : Actuators for arm mounted hearing device." Thesis, Karlstads universitet, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-79063.

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This report is a thesis work for a Master of Science in Mechanical Engineering at Karlstad University. More than 8.5 million people in the world are deaf but unable to get cochlear implants. It has been shown that by the use of actuators that stimulate the skin nerves in different patterns, people can learn to feel the sound on their skin. Invencon AB has developed a actuator concept that uses an electromagnetic actuator with a moving permanent magnet. The problem with this concept is that it locks itself in its upper position due to the permanent magnets around it. The aim of this project was to develop a new actuator concept without the problem of locking-up by starting from the beginning through a systematic product development process. Through research of actuator technology, dividing the project into phases and tasks used in the industry and methods presented in literature such as systematic and creative concept generation, a product development project was made on a product with the main function of imprinting the skin in recognizable patterns. It resulted in an actuator concept similar but different to the existing concept. The resulting concept solved the problem presented by utilizing a moving coil instead of a moving permanent magnet. A 3D model was made and a prototype was 3D printed and tested. Future work includes designing a suitable spring, a research on how wire management should be done, how to minimize the environmental impact from transport, if there are any hazardous substances during elimination and if the income from recycled material can be greater than the elimination cost.
Denna rapport är ett examensarbete för civilingenjörsexamen i maskinteknik vid Karlstads universitet. Mer än 8,5 miljoner människor i världen är döva men är olämpliga för cochleaimplantat. Det har visats att användningen av aktuatorer som stimulerar hudnerverna i olika mönster kan lära människor att känna och lära sig ljudet på huden. Invencon AB har utvecklat ett aktuator koncept som använder sig utav en elektromagnetiskt aktuator med en rörlig permanent magnet. Problemet med detta koncept är att det låser sig i sitt övre läge på grund av de omringande permanenta magneternas påverkan. Syftet med detta projekt var att utveckla ett nytt aktuatorkoncept som inte fastnar i sitt övre läge genom att tillämpa systematisk produktutvecklings-process. Genom undersökandet av nuvarande aktuator teknologi, uppdelning av projektet i faser och uppgifter som används i branschen och metoder som presenteras i litteratur, såsom systematisk och kreativ konceptgenerering, gjordes ett produktutvecklingsprojekt på en produkt med huvudfunktionen att trycka på huden i igenkännbara mönster. Det resulterade i ett aktuatorkoncept som liknar men skiljer sig från det befintliga konceptet. Det resulterande konceptet löste problemet som presenterades genom att använda en rörlig spole i stället för en rörlig permanent magnet. En 3D-modell och sedan en prototyp framställdes och testades. Framtida arbete inkluderar utformningen av en lämplig fjäder, en undersökning om hur koppartråden bör hanteras, hur man minimerar miljöpåverkan från transport på produkten, undersöka om det finns några farliga ämnen under elimineringen av produkten och om intäkterna från återvunnet material kan vara större än elimineringskostnaden.
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Cao, J. "Magnetic MEMS actuators." Thesis, University of Cambridge, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.597277.

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Magnetic MEMS actuators are presently still relatively under-researched as compared to their electrostatic, piezoelectric and electro-thermal counterparts. Most existing magnetic MEMS actuators are limited to simply delivering a rotational output. The research presented in this thesis aims to develop novel magnetic MEMS actuators with complex structures that are capable of delivering more sophisticated and useful mechanical outputs than the existing devices. The study begins with an attempt to solve the problem of bending a freestanding ferromagnetic cantilever beam with an applied magnetic field. Analytical and numerical models have been constructed and the modelling results are compared to experimental results obtained from a microscopic and a laser measurement system. NiFe alloy has been used as both the magnetic and mechanical element. The magnetic and mechanical properties of electroplated NiFe have been experimentally characterized. Fabrication processes for creating freestanding NiFe structures have been designed and optimized via a parametric experimental study. Finally, novel ferromagnetic microstructures have been designed by combining the motions of more than one ferromagnetic beam. Preliminary magnetic actuation tests have been carried out in order to verify the design ideas.
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Williamson, Matthew M. (Matthew Murray). "Series elastic actuators." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/36966.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
Includes bibliographical references (p. 77-80).
by Matthew M. Williamson.
M.S.
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Madden, John David Wyndham 1968. "Conducting polymer actuators." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/8820.

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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
Includes bibliographical references.
Conducting polymers are unusual organic materials featuring high electronic conductivity. Recently it has been observed that some of these polymers change in dimension when their oxidation state is altered. Dimensional changes induced by electrochemical activation in the conducting polymer polypyrrole are investigated. Swept sine and step voltage and current inputs are employed to investigate the nature of this electro-mechanical coupling. Strains of up to 6 %, strain rates of 4 %/s, power to mass ratios of 40 W/kg and forces of up to 34 MN/m2 are achieved. Polypyrrole nearly equals mammalian skeletal muscle in power to mass and exceeds it in force by two orders of magnitude. A model is developed which predicts the electrochemical impedance, and relates electrical input to mechanical output. Observations and modeling indicate that diffusion and capacitive charging limit strain rate. The use of thinner films is predicted to increase strain rate and power to mass ratios by at least two orders of magnitude. Initial applications are likely to be in microelectromechanical systems.
by John David Wyndham Madden.
Ph.D.
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Montazami, Reza. "Smart Polymer Electromechanical Actuators for Soft Microrobotic Applications." Diss., Virginia Tech, 2011. http://hdl.handle.net/10919/28084.

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Ionic electroactive polymer (IEAP) actuators are a class of electroactive polymer devices that exhibit electromechanical coupling through ion transport in the device. They consist of an ionomeric membrane coated with conductive network composites (CNCs) and conductive electrodes on both sides. A series of experiments on IEAP actuators with various types of CNCs has demonstrated the existence of a direct correlation between the performance of actuators and physical and structural properties of the CNCs. Nanostructure of CNC is especially important in hosting electrolyte and boosting ion mobility. This dissertation presents a series of systematic experiments and studies on IEAP actuators with two primary focuses: 1) CNC nanostructure, and 2) ionic interactions. A novel approach for fabrication of CNC thin-films enabled us to control physical and structural properties of the CNC thin-films. We, for the first time, facilitated use of layer-by-layer ionic self-assembly technique in fabrication of porous and conductive CNCs based on polymer and metal nanoparticles. Results were porous-conductive CNCs. We have studied the performance dependence of IEAP actuators on nano-composition and structure of CNCs by systematically varying the thickness, nanoparticle size and nanoparticle concentration of CNCs. We have also studied influence of the waveform frequency, free-ions and counterions of the ionomeric membrane on the performance and behavior of IEAP actuators. Using the LbL technique, we systematically changed the thickness of CNC layers consisting of gold nanoparticles (AuNPs) and poly(allylamine hydrochloride). It was observed that actuators consisting of thicker CNCs exhibit larger actuation curvature, which is evidently due to uptake of larger volume of electrolyte. Actuation response-time exhibited a direct correlation to the sheet-resistance of CNC, which was controlled by varying the AuNP concentration. It was observed that size and type of free-ions and counterion of ionomeric membrane are also influential on the actuation behavior or IEAP actuators and that the counterion of ionomeric membrane participates in the actuation process.
Ph. D.
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Wissler, Michael Tobias. "Modeling dielectric elastomer actuators /." Zürich : ETH, 2007. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17142.

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Klintberg, Lena. "Miniature Phase-Transistion Actuators." Doctoral thesis, Uppsala University, Department of Materials Science, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-2138.

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Clearly, there is a need for simple, strong actuators capable of large strokes in miniaturized systems such as valves and optical shutters.

The basis for this work is the microstructure technology with processing techniques adopted from the integrated circuit industry. In many cases alternative techniques have been developed to obtain features not achievable with conventional silicon technology. Techniques to fabricate thermally activated phase transition actuators capable of large strokes, as well as strong, piezoceramic actuators, have been investigated

Multilayered piezoceramic actuators have been fabricated and used in a miniature linear motor. A technique to build freestanding, three-dimensional structures drop by drop using a micromachined ink jet head and a slurry of piezoceramic particles has been developed. Ion track technology was used to create narrow pores in polyimide. To make bimorph-like structures capable of large strokes, these pores were impregnated with paraffin- a material with a large volume expansion associated with its solid-to-liquid phase transition. Paraffin was used in a silicon thermal switch intended for a passive thermal control system, and in a device to be used as a valve in a gas regulation system. Finally, paraffin actuators for integration in thermoplastic microfluidic systems have been developed.

During the course of this work not only the importance of identifying the best materials for a given application has been addressed and acknowledged, but also that of finding a processing route on occasion far from the conventional one, and perhaps most important, that of anticipating the often surprising effects following from miniaturization.

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Snis, Niklas. "Actuators for autonomous microrobots." Doctoral thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-8720.

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This thesis presents actuators used in autonomous microsystems. Characteristic for all actuators presented is the low drive voltage and the low power consumption. Different motion mechanisms have been studied and applied in various locomotion modules for microrobots. High resolution movement of a monolithic piezoceramic PZT rotational arm module, using a quasi-static motion mechanism, was demonstrated in a 10x10x20 mm3 autonomous robot. The rotational arm comprises multilayer PZT bimorphs and is fabricated by a wet-building technology. The multilayer approach enables operation of the modules at the low drive voltages provided by the robot electronics. In addition a locomotion module has been designed and fabricated based on the above principles. A three-legged locomotion module with piezoceramic unimorphs, moving by tapping the legs against the floor, has been investigated. Characteristics such as low power consumption, high velocities, low drive voltages and a high weight carrying capability were demonstrated using a resonant motion mechanism. Highly miniaturized three-legged locomotion modules were developed for a 3x3x3 mm3 autonomous microrobot. The modules comprise a multilayer structure of the electroactive copolymer P(VDF-TrFE) on a flexible printed circuit board (FPC) substrate. A novel multilayer fabrication process suitable for mass production was used. It is based on sequential deposition of spun cast copolymer with evaporated aluminum electrodes. Reactive ion etching is used to microstructure the copolymer and the FPC. The mechanical deformability of the FPC is exploited when folding the 2D FPC-multilayer assembly into 3D locomotion modules. Locomotion was demonstrated by moving a glass slider corresponding to the robot weight. A modular building technology for microsystems is presented. It uses surface mounting technology and conductive adhesives to assemble modules on a double-sided FPC. Complex geometries were achieved by subsequent folding the FPC. The feasibility of the technology was demonstrated by assembly of the 3x3x3 mm3 autonomous microrobots.
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Books on the topic "Actuators"

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Jurgen, Ronald K., ed. Actuators. Warrendale, PA: SAE International, 1998. http://dx.doi.org/10.4271/0768003954.

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Janocha, Hartmut, ed. Actuators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8.

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K, Jurgen Ronald, ed. Actuators. Warrendale, PA: Society of Automotive Engineers, 1999.

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Asaka, Kinji, and Hidenori Okuzaki, eds. Soft Actuators. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6850-9.

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de Fornel, Bernard, and Jean-Paul Louis, eds. Electrical Actuators. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2013. http://dx.doi.org/10.1002/9781118558119.

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Asaka, Kinji, and Hidenori Okuzaki, eds. Soft Actuators. Tokyo: Springer Japan, 2014. http://dx.doi.org/10.1007/978-4-431-54767-9.

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Segel, Joshua E. Piezoelectric actuators. Hauppauge, N.Y: Nova Science Publishers, 2011.

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Maré, Jean-Charles. Aerospace Actuators 3. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2018. http://dx.doi.org/10.1002/9781119505433.

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Maré, Jean-Charles. Aerospace Actuators 1. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2016. http://dx.doi.org/10.1002/9781119307662.

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Maré, Jean-Charles. Aerospace Actuators 2. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2017. http://dx.doi.org/10.1002/9781119332442.

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Book chapters on the topic "Actuators"

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Janocha, Hartmut. "Introduction." In Actuators, 1–17. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8_1.

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Butzmann, Stefan. "Power Circuits." In Actuators, 19–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8_2.

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Stölting, Hans-Dieter. "Electromagnetic Actuators." In Actuators, 85–153. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8_3.

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Backé, Wolfgang, and Andreas Klein. "Fluidpower Actuators." In Actuators, 155–232. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8_4.

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Janocha, Hartmut. "Unconventional Actuators." In Actuators, 233–336. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-05587-8_5.

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Ismail, Yahya A., A. K. Shabeeba, Madari Palliyalil Sidheekha, and Lijin Rajan. "Conducting Polymer/Hydrogel Systems as Soft Actuators." In Actuators, 211–52. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2020. http://dx.doi.org/10.1002/9781119662693.ch9.

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Traxler, Alfons, and Eric Maslen. "Actuators." In Magnetic Bearings, 111–34. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00497-1_4.

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Asaka, Kinji. "Actuators." In Electrochemical Aspects of Ionic Liquids, 271–78. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2011. http://dx.doi.org/10.1002/9781118003350.ch18.

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Stoecker, W. F., and P. A. Stoecker. "Actuators." In Microcomputer Control of Thermal and Mechanical Systems, 105–22. Boston, MA: Springer US, 1989. http://dx.doi.org/10.1007/978-1-4684-6560-0_6.

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Bräunl, Thomas. "Actuators." In Embedded Robotics, 83–92. Berlin, Heidelberg: Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-662-05099-6_6.

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Conference papers on the topic "Actuators"

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Huang, Shih-Lin, Chin-Chou Chu, Chien C. Chang, and Horn-Sen Tzou. "Spatial Electrostrictive Actuation of Circular Cylindrical Tubes." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-67997.

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Circular cylindrical shells are common components in aerospace structures and many other engineering systems, e.g., rockets, tubes, piping systems, peristaltic pumps, storage tanks, etc. Electromechanical actuators laminated on the shell surfaces can certainly strengthen the shell when needed. Or, regulated inputs to the surface actuators can introduce prescribed surface waves to control the shell oscillation. This study is to evaluate spatial actuation characteristics of circular cylindrical shells using segmented electrostrictive actuators. Electrostrictive actuations induced by surface laminated electrostrictive actuators are defined first. Governing equations of a hybrid circular cylindrical shell/electrostrictive actuator system are formulated. The total electrostrictive actuation and its contributing circumferential membrane/bending and longitudinal bending components are evaluated with respect to shell modal characteristics, design parameters and control voltages. The actuator’s quadratic behavior only generate a positive control force or moment and thus an actuator patch can suppress (or amplify) the vibration in the positive (or negative) displacement. Accordingly, the quadratic electrostrictive actuation suggests that appropriate input voltage(s) need to be carefully applied to specific actuator(s) or regions in order to control, but not to amplify, the shell oscillations. Based on the spatially distributed modal actuation, generic design guidelines and optimal actuation locations are proposed.
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Wu, Chia-Che, Cheng-Chun Lee, G. Z. Cao, and I. Y. Shen. "Effects of Corner Frequency on Bandwidth and Resonance Amplitude in Designing PZT Thin-Film Actuators: An Experimental Demonstration." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-79102.

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In the last decade, Lead Zirconate Titanate Oxide (PZT) thin-film actuators have received increasing attention because of their high frequency bandwidth, large actuation strength, fast response, and small size. The PZT film thickness is usually less than several microns as opposed to hundreds of microns for bulk PZT patches that are commercially available. As a result, PZT thin-film actuators pose unique vibration issues that do not appear in actuators with bulk PZT. Two major issues affecting actuator performance are the frequency bandwidth and the resonance amplitude. As an electromechanical device, a PZT thin-film actuator’s bandwidth and resonance amplitude depend not only on the lowest natural frequency ωn of the actuator’s mechanical structure but also on the corner frequency ωc of the actuator’s RC-circuit. For PZT thin-film actuators, the small film thickness implies large film capacitance C and small ωc. When the size of the actuator decreases, frequency ωn increases dramatically. As a result, improper design of PZT thin-film actuators could lead to ωc ≪ ωn substantially reducing the actuator bandwidth and the resonance amplitude. This paper is to demonstrate this phenomenon through calibrated experiments. In the experiments, frequency response functions of a fixed-fixed silicon beam with a 1-μm thick PZT film are measured through use of a laser Doppler vibrometer and a spectrum analyzer. The silicon beam has multiple electrodes with a wide range of resistance R and corner frequency ωc. The experimental results confirm that the actuator bandwidth and resonance amplitude are substantially reduced when ωc ≪ ωn.
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Sekhavat, P., N. Sepehri, and Q. Wu. "Asymptotic Impact Control of Hydraulic Actuators With Friction." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-61275.

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The focus of this work is stabilization of hydraulic actuators during the transition from free motion to constraint motion and regulating the intermediate impacts that could drive the system unstable. In our past research, we introduced Lyapunov-based nonlinear control schemes capable of fulfilling the above goal by resting the implement on the surface of the environment before starting the sustained-contact motion. The hydraulic actuator’s stick-slip friction effect was, however, either not included in the analysis or not compensated by the control action. In this paper, the application of our previously introduced friction compensating position control scheme is extended to impact regulation of a hydraulic actuator. Theoretical solution and stability analyses as well as actual experiments prove that such control scheme is also effective for asymptotic impact control (with no position steady-state error) of hydraulic actuators in the presence of actuator’s dry friction.
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Waterfall, Tyler, Kendall Teichert, and Brian Jensen. "Simultaneous On-Chip Sensing and Actuation Using the Thermomechanical In-Plane Microactuator." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34982.

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Many applications in microelectromechanical systems require physical actuation for implementation or operation. On-chip sensors would allow control of these actuators. This paper presents experimental evidence showing that a certain class of thermal actuators can be used simultaneously as an actuator and a sensor to control the actuator’s force or displacement output. By measuring the current and voltage supplied to the actuator, a one-to-one correspondence is found between a given voltage and current and a measured displacement or force. This truly integrated sensor/actuator combination will lead to efficient, on-chip control of motion for applications including microsurgery, biological cell handling, and optic positioning.
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Tzou, H. S., and J. P. Zhong. "Distributed Orthogonal Filtering of Piezoelectric Shell Actuators." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0220.

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Abstract Distributed control of elastic shell continua using spatially distributed piezoelectric actuators is proposed and a generic distributed velocity feedback algorithm with a spatial modal feedback function formulated. The generic distributed modal feedback function is further represented by a gain factor and a spatially distributed orthogonal (mode shape) function to achieve independent modal actuation capability. Based on this principle, distributed piezoelectric actuators can be spatially shaped to emulate the spatial orthogonal actuation of the distributed modal feedback function. Distributed orthogonal shaped modal actuators for ring shells are proposed and their modal actuations demonstrated. Analyses suggested that the primary control action came from the in-plane membrane (circumferential) forces and that contributed by the bending control moment is relatively insignificant for lower natural modes. Control effects due to thickness variation of the ring shell and the actuator are also investigated.
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Jiang, X. N., P. W. Rehrig, W. S. Hackenberger, J. Moore, S. Chodimella, and B. Patrick. "Single Crystal Piezoelectric Actuators for Advanced Deformable Mirrors." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-60504.

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In this paper, single crystal piezoelectric actuators are developed and demonstrated as a means of increasing actuator authority while maintaining strain precision for adaptive optics used large throw deformable mirror applications. Single crystal (PMN-PT crystal) stack actuators with foot print size of 5 mm × 5 mm and height varied from 16 mm to 21 mm have been designed, fabricated and tested. The actuation stroke larger than 50 μm is obtained under driving electric field of 15 KV/cm for single crystal stack actuators. In-plane actuation stroke is about 25 μm under 8KV/cm for single crystal plate actuators. The characterization results show that the single crystal piezoelectric actuators hold enhanced stroke and coupling coefficient (>0.83) under lower driving field comparing with PZT counterpart, while keep the nature of piezoelectric actuations with high precision, high resolution, fast response under high preload stress. The potential benefits of incorporating these actuators in a deformable mirror (DM) design were demonstrated by system modeling using the Integrated Optical Design Analysis Software (IODA) developed by SRS. The modeling shows that low order aberrations with peak to valley errors as large as 40 microns could be corrected to diffraction limited performance with a reasonable number of actuators and acceptable actuator forces and face sheet stresses. In the case of DM correction with 20 microns of 1st-Order Astigmatism-X error (Peak to valley: 38.74 μm, RMS error: 8.13 μm), the corrected wavefront error was reduced to PV of 0.26 μm and RMS error of 0.024 μm, which suggest promise for large throw DM applications.
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Lee, Seung Ho, Dong Jun Oh, and Ja Choon Koo. "Passive Air Leakage Detection Mechanism for a Vacuum Suction Actuator." In ASME 2021 30th Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/isps2021-65236.

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Abstract Recently, research on vacuum actuators for holding and transporting objects has been actively conducted. In particular, many vacuum actuators are used to hold and transport several objects at once. However, there is a possibility that a problem of reducing vacuum efficiency may occur when several vacuum actuators are used simultaneously in the process of transporting multiple objects. The first factor is that, due to the diversity of the object’s shape, the vacuum pad of some actuators may not touch the object, so that gripping may not occur. Second, some actuators’ vacuum pad touches the object, but the pad is not completely blocked, resulting in air leakage. This paper used a spring mechanism to solve this problem and developed a vacuum gripping actuator that can block airflow into the actuator that is not used for vacuum efficiency when driving the system before the system is driven. Due to the spring inside the actuator that can play the role of passive compliance, the length can be adjusted, so even if the distance to the object is not constant, it can hold and transport several objects. Furthermore, the pretension of the spring makes it possible to block air inflow initially. We have also developed a brake system using pneumatic and tendon to hold the actuators to maintain each actuator’s length when holding and moving objects. We unified the driving method for operating both systems for simplicity by receiving pneumatic pressure from a pneumatic compressor.
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Oliveira, Marcos B., Alexander Lurie, David Ewen, Philip Long, Taskin Padir, and Samuel M. Felton. "Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97842.

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Abstract In this paper, we present the design, modeling and, fabrication of a soft bending actuator that combines casting techniques and additive manufacturing. We performed tests to evaluate the bending actuator’s angular deflection and tip force. We demonstrated flexibility in the process by varying the bladder material. We also showed the actuator’s resilience to damage by cutting and puncturing the exoskeleton prior to operation. Finally, we integrated the bending actuator into a three-finger gripper configuration and performed a gripping test for four different objects with various weights and shapes. Results show that the curvature and force obtained in these actuators are comparable to other proposed bending actuators with a faster and more adaptable fabrication process. With these results we demonstrate that fast, effective, and versatile fabrication of soft robotic components can be attained by combining casting and additive manufacturing techniques.
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Zampaglione, Kyle, Andrew P. Sabelhaus, Lee-Huang Chen, Alice M. Agogino, and Adrian K. Agogino. "DNA-Structured Linear Actuators." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-60291.

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This work presents a series of DNA-structured linear actuators that have high displacements and compact profiles. These actuators operate by twisting and untwisting a double helix that resembles a DNA molecule. Unlike most similarly-motivated twisted string actuators (TSAs), these DNA-structured actuators can have the ability to exert both push and pull forces on a load. Thus, although originally designed for cable-driven robotics, these actuators have the ability to work as part of many different mechatronic systems. Two inherently different actuator designs were investigated, one with straight-line edges (rails) and one with helical rails. Two mathematical models of angular rotation versus linear displacement were developed and simulated, one for each design, and three prototypes were constructed to validate the models. The final prototype was tested for displacement, restorative torque, and pull force characteristics. This last prototype showed a 30.5 cm stroke for a 40.5 cm actuator, or a displacement of 75.3% of its total length.
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Hunt, Alexander J., Alexander Graber-Tilton, and Roger D. Quinn. "Modeling Length Effects of Braided Pneumatic Actuators." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67458.

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Braided pneumatic actuators (BPAs) are attractive for use in bio-robots because they offer many muscle-like properties, especially when compared to most other commercially available robotic actuators. Unfortunately, the same properties that make these actuators similar to muscles make them more difficult to control. One such actuator manufactured by Festo, the MXAM-10-AA, is frequently utilized in robotics because of its commercial availability, durability, and force capability. Although models for BPAs exist, the properties that make this actuator more durable also make its behavior less like other braided pneumatic actuators, especially for shorter actuator lengths. Length specific models that do exist for Festo fluidic muscles have numerous parameters that can only be found experimentally by taking hundreds to thousands of data points and performing a lengthy optimization process to fit parameter values for each actuator in the system. This lack of generalizability makes it difficult to build a new robot and begin testing new control systems without significant startup time and cost. The key contribution of this work is the development of a generalizable actuator model that accounts for the geometry and limitations of the actuator at shorter lengths. This empirical model relates internal pressure, strain, stretching or contracting state, and applied force on the MXAM-10-AA actuator. The model is scalable to different length actuators by measuring their resting length at zero pressure and their minimum contraction length at maximum air pressure, and can be used for feedforward length control. The model is evaluated on a robot leg with three joints and 6 actuators, each with different length. The developed controller, using the actuator model, controls the joints to within ± 3 degrees of the desired position for different desired torques only using internal actuator pressure feedback. We also demonstrate control speed by cycling a joint over 40 degrees of rotation at varying frequencies.
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Reports on the topic "Actuators"

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Cain, A. B., G. R. Raman, and E. J. Kerschen. Effective Actuation: High Bandwidth Actuators and Actuator Scaling Laws. Fort Belvoir, VA: Defense Technical Information Center, July 2001. http://dx.doi.org/10.21236/ada388050.

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Epstein, Richard. Massively Redundant Electromechanical Actuators. Fort Belvoir, VA: Defense Technical Information Center, August 2014. http://dx.doi.org/10.21236/ada614584.

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Phillip M. Paul. Electrokinetic pumps and actuators. Office of Scientific and Technical Information (OSTI), March 2000. http://dx.doi.org/10.2172/755099.

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Cybyk, Bohdan Z., Daniel H. Simon, III Land, Wilkerson H. B., and Jordan T. SparkJet Actuators for Flow Control. Fort Belvoir, VA: Defense Technical Information Center, March 2007. http://dx.doi.org/10.21236/ada466100.

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Lagoudas, D. C., and O. K. Rediniotis. Highly-Compact SMA Actuators A Feasibiltiy Study of Fuel-Powered and Thermoelectric SMA Actuators. Fort Belvoir, VA: Defense Technical Information Center, December 2003. http://dx.doi.org/10.21236/ada424753.

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Lin, Zongli. Exponentially Unstable Plants With Saturating Actuators. Fort Belvoir, VA: Defense Technical Information Center, June 2002. http://dx.doi.org/10.21236/ada403409.

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Lindner, Douglas K., Zafer Guerdal, and Mary Frecker. Optimization of Electronically Integrated Smart Actuators. Fort Belvoir, VA: Defense Technical Information Center, July 2003. http://dx.doi.org/10.21236/ada427429.

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Haertling, Gene, Eugene Furman, and Feiling Wang. Characterization Equipment for Electrooptics and Actuators. Fort Belvoir, VA: Defense Technical Information Center, October 1994. http://dx.doi.org/10.21236/ada286285.

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Almeida, Oscar J., Brian G. Dixon, Jill H. Hardin, John P. Sanford, and Myles Walsh. High Temperature Smart Sensors and Actuators. Fort Belvoir, VA: Defense Technical Information Center, August 1992. http://dx.doi.org/10.21236/ada256985.

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Sayir, Ali, and Alp Sehirlioglu. Piezoelectric Ceramics for High Temperature Actuators. Fort Belvoir, VA: Defense Technical Information Center, July 2009. http://dx.doi.org/10.21236/ada583233.

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