Journal articles on the topic 'Actuators - Design and construction'
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1
Koo, Ja Choon, Hyouk Ryeol Choi, Min Young Jung, Kwang Mok Jung, Jae Do Nam, and Young Kwan Lee. "Design and Control of Three-DOF Dielectric Polymer Actuator." Key Engineering Materials 297-300 (November 2005): 665–70. http://dx.doi.org/10.4028/www.scientific.net/kem.297-300.665.
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Smart polymer based actuators have demonstrated various benefits over the traditional electromagnetic or piezoelectric-material actuators. One of the most significant contributions of the polymers is its soft actuation mechanisms. Hence morphological freedom for actuator construction benefits production of either small scale complex mechanisms or human-like applications. Although many actuation paradigms of polymer actuators are presented in various publications, no significant contributions are made for investigation of modeling and control methods of the material. In the present work, a smart polymer based actuator is constructed. It is then modeled and analyzed for feasible control scheme selection.
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Al-Ibadi, Alaa, Samia Nefti-Meziani, Steve Davis, and Theo Theodoridis. "Novel Design and Position Control Strategy of a Soft Robot Arm." Robotics 7, no. 4 (November 13, 2018): 72. http://dx.doi.org/10.3390/robotics7040072.
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This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.
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Janocha, H., B. Rech, and R. Bölter. "PRACTICE-RELEVANT ASPECTS OF CONSTRUCTING ER FLUID ACTUATORS." International Journal of Modern Physics B 10, no. 23n24 (October 30, 1996): 3243–55. http://dx.doi.org/10.1142/s0217979296001690.
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The flow resistance of electrorheological fluids (ER fluids) can be controlled by applying electric fields. Thus, ER fluids are suitable for the application in actuators, using high-voltage sources for the generation of the field. The behaviour of an ER fluid actuator not only depends on the properties of the individual actuator components (ER fluid, energy transducer and energy source) but especially on their combined efforts as a system. Based on a possible scheme for the design of ER fluid actuators, this paper presents important practice-relevant aspects of a systematic actuator construction. Here the behaviour of a commercial ER suspension is examined and compared to a homogeneous ER fluid without yield point using a rotational viscometer and a flow-mode damper realized at the Laboratory of Process Automation (LPA) of the University of Saarland.
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Bernat, Jakub, and Jakub Kołota. "Modeling of Dielectric Electroactive Polymer Actuators with Elliptical Shapes." Energies 14, no. 18 (September 8, 2021): 5633. http://dx.doi.org/10.3390/en14185633.
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Dielectric electroactive polymers have been widely used in recent applications based on smart materials. The many advantages of dielectric membranes, such as softness and responsiveness to electric stimuli, have lead to their application in actuators. Recently, researchers have aimed to improve the design of dielectric electroactive polymer actuators. The modifications of DEAP actuators are designed to change the bias mechanism, such as spring, pneumatic, and additional mass, or to provide a double cone configuration. In this work, the modification of the shape of the actuator was analyzed. In the standard approach, a circular shape is often used, while this research uses an elliptical shape for the actuator. In this study, it was shown that this construction allows a wider range of movement. The paper describes a new design of the device and its model. Further, the device is verified by the measurements.
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Zhang, Xing, Wei Wang, and Guang Hua Zong. "The Application of Piezoelectric Actuator for Small Aircraft." Advanced Materials Research 998-999 (July 2014): 674–77. http://dx.doi.org/10.4028/www.scientific.net/amr.998-999.674.
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This paper describes the design, construction, and analysis of a new piezoelectric actuator design for small aircrafts in the special requirements of the steering weight. It describes the working principle of piezo actuator, optimizes the piezo chip specification parameters by experimental measurements, put forward the finite element analysis simulation and the experimental testing of piezoelectric actuators’ drive performance. The simulation and experimental results show that the new design meets the design requirements of weight and space control.
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Hatala, Michal, Miroslav Mičko, Ľubomir Olexa, Peter Michalik, Ján Čisár, and Pavel Kokuľa. "Design of Module of Moving Robot." Applied Mechanics and Materials 616 (August 2014): 93–100. http://dx.doi.org/10.4028/www.scientific.net/amm.616.93.
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Article deals with the design of module walking robot. When designing a walking robot construction is an important to choose correct structure of the body and legs. In practice, are mostly used constructions with the numbers of feet two, four and six. Selected variant was subsequently analyzed and optimized and was assigned appropriate material. Based on the measurements and the subsequent comparison of the results was designed suitable actuators for selected modes of motion.
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Krivts, Igor L. "New Pneumatic Cylinders for Improving Servo Actuator Positioning Accuracy." Journal of Mechanical Design 126, no. 4 (July 1, 2004): 744–47. http://dx.doi.org/10.1115/1.1737380.
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Positioning accuracy of pneumatic servo actuators depends on parameters of the actuator and control system, and also on the friction force. This paper reports on new constructions of the pneumatic cylinders, which are the integral part of the servo actuator. Experimental examination of these servo actuators has shown that they could provide improved accuracy performance over the system with ordinary pneumatic cylinder.
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Kheirikhah, Mohammad Mahdi. "Design and construction of an artificial finger based on SMA actuators." Indian Journal of Science and Technology 6, no. 1 (January 20, 2013): 1–8. http://dx.doi.org/10.17485/ijst/2013/v6i1.1.
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WOLFF, C. "Closed Loop Controlled ER-Actuator." International Journal of Modern Physics B 10, no. 23n24 (October 30, 1996): 2867–76. http://dx.doi.org/10.1142/s0217979296001318.
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The results of the investigation regarding the suitability of ERF when applied in hydraulics have shown so far that constructing electrorheological flow resistors for the control of pressure and volume flow is possible in principle. One of the main advantages when using the ER-technology in hydraulic systems can be seen in the high reaction rate of the ER-effect. The investigations presented in this article document the dynamic qualities of ER-fluids by means of a practical exploitation for the control of a cylinder actuator. Due to the particular possibilities for design of ER-control resistors a compact cylinder has resulted which differs considerably from traditional cylinder actuators in its construction and dynamic behaviour.
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Chiarello, Eduardo, and Juliana Almansa Malagoli. "Optimal Coil Design of an Electromagnetic Actuator Using Particle Swarm Optimization." Journal Européen des Systèmes Automatisés 53, no. 6 (December 23, 2020): 755–61. http://dx.doi.org/10.18280/jesa.530601.
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This paper aims to reduce the heating of the electromagnetic actuators of a magnetic bearing. The electrical current of the coils was above normal, so the need for a new coil design to reduce heating due to high currents. In this scenario, the proposed methodology allows minimizing copper losses using Particle Swarm Optimization, so that the best result of the design parameters will be used in the construction of the new coil for the actuator. For the development of this work, it was decided to use a computational tool for public use, FEMM (Finite Element Method Magnetics) to simulate the electromagnetic device. In the simulations, the densities of magnetic fluxes in the core and in the air gap are shown, as well as the energies, electromagnetic forces and losses in the copper of the electromagnetic actuator winding. Finally, an optimal model of the actuator is obtained through the use of optimization techniques. Therefore, the results obtained demonstrate that the proposed methodology is configured as an interesting strategy for the purpose of this work.
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Hošovský, Alexander, and Kamil Židek. "Experimental Validation of Nominal Model Characteristics for Pneumatic Muscle Actuator." Applied Mechanics and Materials 460 (November 2013): 1–12. http://dx.doi.org/10.4028/www.scientific.net/amm.460.1.
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Pneumatic artificial muscles belong to a category of nonconventional pneumatic actuators that are distinctive for their high power/weight ratio, simple construction and low price and maintenance costs. As such, pneumatic artificial muscles represent an alternative type of pneumatic actuator that could replace the traditional ones in certain applications. Due to their specific construction, PAM-based systems have nonlinear characteristics which make it more difficult to design a control system with good performance. In the paper, a gray-box model (basically analytical but with certain experimental parts) of the one degree-of-freedom PAM-based actuator is derived. This model interconnects the description of pneumatic and mechanical part of the system through a set of several nonlinear differential equations and its main purpose is the design of intelligent control system in simulation environment. The model is validated in both open-loop and closed-loop mode using the measurements on real plant and the results confirm that model performance is in good agreement with the performance of real actuator.
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ASHOKKUMAR, CHIMPALTHRADI R. "OPTIMAL RECONFIGURABLE CONTROL FOR ADAPTIVE STRUCTURES WITH POLE CONSTRAINTS." International Journal of Structural Stability and Dynamics 13, no. 08 (October 21, 2013): 1350037. http://dx.doi.org/10.1142/s0219455413500375.
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Linear quadratic optimal regulator in multi-input setting exhibits several properties that are useful in adaptive control of structures. Its ability to preserve guaranteed stability margins in each input channel is particularly attractive to switch actuators, develop management schemes and meet the response tailoring objectives in the structure. A stabilizing controller for each of these actuators is already known from the regulator design. Since these controllers are infinite gain margin controllers, it is shown that they are also linear quadratic optimal with respect to a scalar multiplying the controller corresponding to the actuator. In this paper, these optimal controllers in a reconfigurable architecture are considered. Dynamic response tailoring by each actuator combination is investigated. Further, while switching actuators, parametric robustness of the reconfigurable systems is assessed with respect to the perturbed eigenvalues in a circular region. An oscillator model and a cantilever beam are used to illustrate the dynamic response tailoring in an adaptive structure using conventional and reconfigurable control principles.
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Kiat, Yeo Chin, Mariam Md Ghazaly, Shin Horng Chong, and Irma Wani Jamaludin. "A Review: Design Variables Optimization and Control Strategies of a Linear Switched Reluctance Actuator for High Precision Applications." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 2 (June 1, 2017): 963. http://dx.doi.org/10.11591/ijpeds.v8.i2.pp963-978.
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This paper presents the review of design variables optimization and control strategies of a Linear Switched Reluctance Actuator (LSRA). The introduction of various type of linear electromagnetic actuators (LEA) are compared and the advantages of LSRA over other LEA are discussed together with the type of actuator configurations and topologies. The SRA provides an overall efficiency similar to induction actuator of the similar rating, subsequently the friction and windage losses are comparable but force density is better. LSRA has the advantage of low cost, simple construction and high reliability compare to the actuator with permanent magnet. However, LSRA also has some obvious defects which will influence the performance of the actuator such as ripples and acoustic noise which are caused by the highly nonlinear characteristics of the actuator. By researching the design variables of the actuator, the influences of those design variables are introduced and the detail comparisons are analyzed in this paper. In addition, this paper also reviews on the control strategies in order to overcome the weaknesses of LSRA.
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Wang, Yushu, Wenwen Huang, Yu Wang, Xuan Mu, Shengjie Ling, Haipeng Yu, Wenshuai Chen, et al. "Stimuli-responsive composite biopolymer actuators with selective spatial deformation behavior." Proceedings of the National Academy of Sciences 117, no. 25 (June 10, 2020): 14602–8. http://dx.doi.org/10.1073/pnas.2002996117.
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Bioinspired actuators with stimuli-responsive and deformable properties are being pursued in fields such as artificial tissues, medical devices and diagnostics, and intelligent biosensors. These applications require that actuator systems have biocompatibility, controlled deformability, biodegradability, mechanical durability, and stable reversibility. Herein, we report a bionic actuator system consisting of stimuli-responsive genetically engineered silk–elastin-like protein (SELP) hydrogels and wood-derived cellulose nanofibers (CNFs), which respond to temperature and ionic strength underwater by ecofriendly methods. Programmed site-selective actuation can be predicted and folded into three-dimensional (3D) origami-like shapes. The reversible deformation performance of the SELP/CNF actuators was quantified, and complex spatial transformations of multilayer actuators were demonstrated, including a biomimetic flower design with selective petal movements. Such actuators consisting entirely of biocompatible and biodegradable materials will offer an option toward constructing stimuli-responsive systems for in vivo biomedicine soft robotics and bionic research.
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Ottaviano, E., M. Ceccarelli, J. Di Giorgio, and M. Varone. "Design and Evaluation of a Discretely Actuated Multi-Module Parallel Manipulator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 220, no. 4 (April 1, 2006): 513–26. http://dx.doi.org/10.1243/09544062c08305.
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In this paper, a new discretely actuated spatial parallel manipulator is presented as designed with binary pneumatic actuation. It has been used as a basic module for the construction of a multi-module parallel manipulator. Major benefits of discretely actuated manipulators are high repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows executing tasks even when some actuators fail. Binary actuators can have only two stable states denoted by (0) and (1). In this paper, kinematic and static analyses have been reported to obtain design constraints that have been used to build a first prototype. A performance evaluation is carried out and the prototype has been built for experimental tests.
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Wang, Yafeng, and Gennaro Senatore. "Design of adaptive structures through energy minimization: extension to tensegrity." Structural and Multidisciplinary Optimization 64, no. 3 (July 30, 2021): 1079–110. http://dx.doi.org/10.1007/s00158-021-02899-y.
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AbstractThis paper gives a new formulation to design adaptive structures through total energy optimization (TEO). This methodology enables the design of truss as well as tensegrity configurations that are equipped with linear actuators to counteract the effect of loading through active control. The design criterion is whole-life energy minimization which comprises an embodied part in the material and an operational part for structural adaptation during service. The embodied energy is minimized through simultaneous optimization of element sizing and actuator placement, which is formulated as a mixed-integer nonlinear programming problem. Optimization variables include element cross-sectional areas, actuator positions, element forces, and node displacements. For tensegrity configurations, the actuators are not only employed to counteract the effect of loading but also to apply appropriate prestress which is included in the optimization variables. Actuator commands during service are obtained through minimization of the operational energy that is required to control the state of the structure within required limits, which is formulated as a nonlinear programming problem. Embodied and operational energy minimization problems are nested within a univariate optimization process that minimizes the structure’s whole-life energy (embodied + operational). TEO has been applied to design a roof and a high-rise adaptive tensegrity structure. The adaptive tensegrity solutions are benchmarked with equivalent passive tensegrity as well as adaptive truss solutions, which are also designed through TEO. Results have shown that since cables can be kept in tension through active control, adaptive tensegrity structures require low prestress, which in turn reduces mass, embodied energy, and construction costs compared to passive tensegrity structures. However, while adaptive truss solutions achieve significant mass and energy savings compared to passive solutions, adaptive tensegrity solutions are not efficient configurations in whole-life energy cost terms. Since cable elements must be kept in tension, significant operational energy is required to maintain stable equilibrium for adaptation to loading. Generally, adaptive tensegrity solutions are not as efficient as their equivalent adaptive truss configurations in mass and energy cost terms.
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Kojima, Hiroyuki. "Special Issue on Gear Components and Actuators." International Journal of Automation Technology 2, no. 5 (September 5, 2008): 333. http://dx.doi.org/10.20965/ijat.2008.p0333.
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Components such as gears, bearings, and shafts are essential to effective automation, ensuring reliable, cost-effective design. Actuators such as DC, AC, and stepping motors are equally important to automation. Studies in mechatronics make equal use of both gears and actuators in the practical construction of automated equipment. This special issue on gears and actuators looks at studies on load bearing capacity in mechanical system design, including micropitting generation and high-speed finishing of hard gear teeth for garnering insights into mechanisms behind successful automation. It also monitors the study of trajectory planning and motion control of robots using ball screws, worm gears, stepping motors, and AC motors. Our deep appreciation goes to the authors for their informative and interesting papers and to the editors for their generous time and effort in making this special issue possible.
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Woods, Benjamin KS, Michael F. Gentry, Curt S. Kothera, and Norman M. Wereley. "Fatigue life testing of swaged pneumatic artificial muscles as actuators for aerospace applications." Journal of Intelligent Material Systems and Structures 23, no. 3 (February 2012): 327–43. http://dx.doi.org/10.1177/1045389x11433495.
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Pneumatic artificial muscles are a class of pneumatically driven actuators that are remarkable for their simplicity, lightweight, and excellent performance. These actuators are essentially a tubular bladder surrounded by a braided sleeve and sealed at both ends. Pressurization of the actuators generates contraction and tensile forces. Pneumatic artificial muscles have traditionally been used for robotics applications, but there has been recent interest in adapting them to a variety of aerospace actuation applications where their large stroke and force, which are realized at minimal weight penalty, create potential performance improvements over traditional technologies. However, an impediment to wide-spread acceptance of pneumatic artificial muscles is the relatively short fatigue lives of the actuators reported in the literature (typically, less than 18,000 actuation cycles before damage occurs). The purpose of this study is to develop a new construction method designed to greatly increase the number of fatigue cycles before damage occurs. The fabrication methodology employs a swaging process to provide smooth and distributed clamping of the bladder and braided sleeve components onto the end fittings. This approach minimizes stress concentrations and provides high mechanical strength, which can be experimentally validated via testing for the ultimate tensile failure load. Finite element analysis was used to refine the design of the swaged end fittings before extensive fatigue testing began. Long-term fatigue testing of the actuators under realistic operating conditions showed a substantial increase in actuator life, from a maximum of less than 18,000 cycles in previous research studies to more than 120,000,000 cycles in this study.
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Vargas, Oscar, Omar Flor, and Carlos Toapanta. "Robotic hand design with linear actuators based on Toronto development." Athenea 1, no. 1 (September 26, 2020): 22–28. http://dx.doi.org/10.47460/athenea.v1i1.3.
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In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented.
Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator.
References
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[6]O. Flor, “Building a mobile robot,” Education for the future. Accessed on: December 29, 2019. [Online] Available: https://omarflor2014.wixsite.com/misitio.
[7]Vargas, O., Flor,O., Suarez, F., Design of a robotic prototype of the hand and right forearm for prostheses, Universidad, Ciencia y Tecnología, 2019.
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[9]P. PonPriya, E. Priya, Design and control of prosthetic hand using myoelectric signal. International Conference on Computing and Communications Technologies (ICCCT), 2017, doi:10.1109/iccct2.2017.7972314.
[10]N. Bajaj, A. Spiers, A. Dollar, State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design. IEEE Transactions on Robotics, 2019, doi:10.1109/tro.2018.2865890.
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Tinsley, Luke J., and Russell A. Harris. "A Novel Computer-Controlled Maskless Fabrication Process for Pneumatic Soft Actuators." Actuators 9, no. 4 (December 11, 2020): 136. http://dx.doi.org/10.3390/act9040136.
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Template-based and additive manufacturing techniques have demonstrated some fabrication routes for creating pneumatic soft actuators. However, as the complexity and capability of the actuators continue to develop, the limitations of these approaches are becoming evident. These include difficulties for design variations, process speed and resolution, material compatibility and scalability, which hinder and restrict both the possible capabilities of the technology and its transition from research to industry. This body of work presents a computer-controlled, maskless manufacturing process with a different approach to allow for high-speed, low-cost and flexible creation of pneumatic soft actuation networks comprising multi-material construction. This was investigated through a bespoke fabrication platform that provides computer-controlled localised plasma treatment to selectively modify the chemical behaviour on the surface of silicone and polyethylene terephthalate (PET) bodies. The altered surface chemistry facilitated selective bond formation between the treated parts of the surface and, consequently, greater design variation and control over the pneumatic chambers that were formed. Selective treatment patterns allowed nonlinear pneumatic chamber designs to be created, and the strength of bonded silicone structures was shown to facilitate large deformations in the actuators. Furthermore, the different interactions between the plasma and silicone were leveraged to achieve feature sizes of <1 mm and treatment speeds of 20 mm2 per second of exposure. Two multi-material pneumatic soft actuators were then fabricated to demonstrate the potential of the platform as an automated manufacturing route for soft actuators.
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Kabanov, S. A., B. A. Zimin, and F. V. Mitin. "Development and Research of Mathematical Models of Deployment of Mobole Parts of Transformable Space Construction. Part II." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 2 (February 10, 2020): 117–28. http://dx.doi.org/10.17587/mau.21.117-128.
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The process of deployment elements of constructions and adjustment of the radio-reflecting network of large-sized transformable space-based reflector is considered. The reflector consists of a frontal network, which is stretched on the power frame, cables, with which the front network is pulled to the rear network to set the desired shape of the reflecting surface. The problem of setting and determining the shape of the radio-reflective network is solved both in one plane and in three planes. In general, the task of adjusting the form of a radio reflecting reticle is solved by affecting the design of the actuators — the element of the control system. For the correct functioning of the reflector in orbit, it is necessary to control the shape of the reflecting surface by stretching the frontal network. For the formation and maintenance of the shape of the reflector, the frontal and rear networks are connecte d by cable-stayed reinforcements (tie rods). The cable connect the opposite network nodes. The cable system is the basis for building a sub-system. Miniature mechatronic modules can be located on each of the adju stable guys. To adjust the shape in one plane, the technique of flexible threads is applied. The possibility of changing the surface by simultaneous action of one or more actuators is sho wn. To adjust the shape in space, the membrane method described by the Laplace equation is used. The piezo actuator, DC motor and servomotor are considered as actuators for setting t he shape. As a mathematical model of the piezoactuator, the model of A. A. Nikolsky is considered. The system is solved taking into account rigid fixation of the reflector response. A comparison of the use of PID-controller and optimal controller. The structure of optimal control is revealed from the maximum principle. The arising two-point boundary value problem is solved by the methods of the steepest descent and Newton. It is shown that the use of optimal control can reduce the time of the transition process. A similar problem was solved for DC motor and servo motor. The advantage of using optim al control methods is shown for all actuators. The solution of the problem with the help of algorithm with correction of parameters of control structure is offered.
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Yong, Yang, Li Lin, and Li Chao. "Design and Modal Analysis of Fast Magnetostrictive Steering Mirror." Materials Science Forum 546-549 (May 2007): 2245–49. http://dx.doi.org/10.4028/www.scientific.net/msf.546-549.2245.
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In this paper the mechanical structure and the operating principle of a fast steering mirror (FSM) are introduced, and a novel FSM based on magnetostrictive actuators is designed. The modal analysis of the FSM is carried out with the help of the finite element method, and relative experiments are also conducted. The experimental results and that of simulation are given and in good qualitative agreement with each other. This paper pays attention to ameliorating the FSM structure for higher mechanical natural frequency and perfect control performance. The experimental results would be helpful for the construction design of the FSM.
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Cavallo, Alberto, Giuseppe De Maria, Ciro Natale, and Salvatore Pirozzi. "Classes of Strongly Stabilizing Bandpass Controllers for Flexible Structures." Advances in Acoustics and Vibration 2012 (January 30, 2012): 1–11. http://dx.doi.org/10.1155/2012/249478.
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This paper proposes different design strategies of robust controllers for high-order plants. The design is tailored on the structure of the equations resulting from modeling flexible structures by using modal coordinates. Moreover, the control laws have some characteristics which make them specially suited for active vibration reduction, such as strong stabilization property and bandpass frequency shape. The approach is also targeted the case of more sensors than actuators, which is very frequent in practical applications. Indeed, actuators are often rather heavy and bulky, while small and light sensors may be placed more freely. In such cases, sensors can be usefully placed in the locations where the primary force fields act on the structure, so as to provide the controller with a direct information on the disturbance effects in terms of structural vibrations. Eventually, this approach may lead to uncolocated control strategies. The design problem is here solved by resorting to a Linear Matrix Inequality technique, which allows also to select the performance weights based on different design requirements, for example, a suitable bandpass frequency shape. Experimental results are presented for a vibration reduction problem of a stiffened aeronautical panel controlled by piezoelectric actuators.
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Nikolarakis, P. N., I. A. Asimakopoulos, and L. Zoumpoulakis. "Design and Construction of Capacitors with the Use of Nano-Barium Titanate’s (BaTiO3) Composite Materials." Journal of Nanomaterials 2018 (2018): 1–11. http://dx.doi.org/10.1155/2018/7023437.
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The basic idea of this work, from the beginning of the laboratory work till now, is to develop innovative polymer composite materials using nanoparticles that can polarize in such a way that electrical energy can be stored. A number of thermosetting polymers have been laboratory-polymerized and then mixed with barium titanate nanoparticles, in order to develop new polymer nanocomposites. Barium titanate is a well-known dielectric material, which is used in sensors and actuators as it is a piezoelectric and ferroelectric material. In this work, we examine the storage capability between different types of such composites by creating passive filters.
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Yu, Zhen, Chen-yang Zhang, Jing-xian Yu, Zhang Dang, and Min Zhou. "Construction and Numerical Realization of a Magnetization Model for a Magnetostrictive Actuator Based on a Free Energy Hysteresis Model." Applied Sciences 9, no. 18 (September 5, 2019): 3691. http://dx.doi.org/10.3390/app9183691.
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Giant magnetostrictive actuators (GMA) driven by giant magnetostrictive material (GMM) has some advantages such as a large strain, high precision, large driving force, fast response, high reliability, and so on, and it has become the research hotspot in the field of microdrives. Research shows there is a nonlinear, intrinsic relationship between the output signal and the input signal of giant magnetostrictive actuators because of the strong coupling characteristics between the machine, electromagnetic field, and heat. It is very complicated to construct its nonlinear eigenmodel, and it is the basis of the practical process of giant magnetostrictive material to construct its nonlinear eigenmodel. Aiming at the design of giant magnetostrictive actuators, the magnetization model based on a free-energy hysteresis model has been deeply researched, constructed, and put forward by Smith, which combines Helmholtz–Gibbs free energy and statistical distribution theory, to simulate the hysteresis model at medium or high driving strengths. Its main input and output parameters include magnetic field strength, magnetization, and mechanical strain. Then, numerical realization and verification of the magnetization model are done by the Gauss–Legendre integral discretization method. The results show that the magnetization model and its numerical method are correct, and the research results provide a theoretical basis for the engineering application of giant magnetostrictive material and optimized structure of giant magnetostrictive material actuators, which have an important practical application value.
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Antonelli, Michele Gabrio, Pierluigi Beomonte Zobel, Walter D’Ambrogio, and Francesco Durante. "Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects." Actuators 9, no. 4 (November 10, 2020): 113. http://dx.doi.org/10.3390/act9040113.
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In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human–robot coexistence and interaction, the safety, the first requirement to be satisfied, also depends on the end effectors. End effectors made of soft actuators satisfy this requirement. A novel pneumatic bending soft actuator with high compliance, low cost, high versatility and easy production is here proposed. Conceived to be used as a finger of a collaborative robot, it is made of a hyper-elastic inner tube wrapped in a gauze. The bending is controlled by cuts in the gauze: the length and the angular extension of them, the pressure value and the dimensions of the inner tube determine the bending amplitude and avoid axial elongation. A design methodology, oriented to kinematically mirror the shape of the object to be grasped, was defined. Firstly, it consists of the development of a non-linear parametric numerical model of a bioinspired finger; then, the construction of a prototype for the experimental validation of the numerical model was performed. Hence, a campaign of simulations led to the definition of a qualitatively predictive formula, the basis for the design methodology. The effectiveness of the latter was evaluated for a real case: an actuator for the grasping of a light bulb was designed and experimentally tested.
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Britz, Rouven, Paul Motzki, and Stefan Seelecke. "Scalable Bi-Directional SMA-Based Rotational Actuator." Actuators 8, no. 3 (August 5, 2019): 60. http://dx.doi.org/10.3390/act8030060.
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In industrial applications, rotatory motions and torques are often needed. State-of-the-art actuators are based on either combustion engines, electro-motors, hydraulic, or pneumatic machines. The main disadvantages are the construction space, the high weight, and a large amount of needed peripheral devices. To overcome these limitations, compact and light-weight actuator systems can be built by using shape memory alloys (SMAs), which are known for their superior energy density. In this paper, the development of a scalable bi-directional rotational actuator based on SMA wires is presented. The scalability was based on a modular design, which allowed the actuator to be adapted to various application specifications by customizing the rotational angle and the output torque. On the mechanical side, each module enabled a small rotatory motion, which added up to the total angle of the actuator. The SMA wires were arranged in an agonist-antagonist configuration to provide active rotation in both directions. The presented prototype achieved a total rotation of 100°. The modularity of the mechanical concept is also reflected in the electronics, which is discussed in this paper as well. This consideration allows the electronics to be adapted to the mechanics with minimal changes. As a result, a prototype, including the presented mechanical and electronic design, is reported in this study.
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Berri, Pier Carlo, Matteo D. L. Dalla Vedova, Paolo Maggiore, and Guido Riva. "Design and Development of a Planetary Gearbox for Electromechanical Actuator Test Bench through Additive Manufacturing." Actuators 9, no. 2 (May 1, 2020): 35. http://dx.doi.org/10.3390/act9020035.
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The development and validation of prognostic algorithms and digital twins for Electromechanical Actuators (EMAs) requires datasets of operating parameters that are not commonly available. In this context, we are assembling a test bench able to simulate different operating scenarios and environmental conditions for an EMA in order to collect the operating parameters of the actuator both in nominal conditions and under the effect of incipient progressive faults. This paper presents the design and manufacturing of a planetary gearbox for the EMA test bench. Mechanical components were conceived making extensive use of Fused Deposition Modelling (FDM) additive manufacturing and off-the-shelf hardware in order to limit the costs and time involved in prototyping. Given the poor mechanical properties of the materials commonly employed for FDM, the gears were not sized for the maximum torque of the electric motor, and a secondary torque path was placed in parallel of the planetary gearbox to load the motor through a disc brake. The architecture of the gearbox allowed a high gear ratio within a small form factor, and a bearingless construction with a very low number of moving parts.
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Abdulin, R. R., D. S. Timofeev, A. A. Kravchenko, N. V. Krylov, S. L. Samsonovich, N. B. Rozhnin, A. P. Larin, and M. A. Makarin. "Kinematic and Power Characteristics of the Active Frameless Aircraft Control Sidestick." Mekhatronika, Avtomatizatsiya, Upravlenie 19, no. 10 (October 11, 2018): 673–79. http://dx.doi.org/10.17587/mau.19.673-679.
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The article is devoted to the actual topic of a small-sized active aircraft control sidestick design and identification of parameters that influence its energy consumption characteristics. The analysis of structural regularities of active control sidestick kinematics design is carried out. The analysis demonstrates that the disadvantage of the known frame constructions, apart from the large dimensions, is the difference in the dynamic characteristics of the channels when using the same actuators, because the mass of a frame mounted actuator is the load for a fixed base mounted actuator. According to results of the analysis, a synthesis of the active control sidestick building based on using of kinematic pairs having one degree of motion was carried out. Hinged mechanisms were used that convert rotational motion of the input link (the actuator output shaft) to the swinging motion of the output link (the control sidestick handgrip) in a single plane. When using two such actuators, so that their links are located perpendicularly and connected to each other by a lever through one-degree-offreedom rotating pairs, a kinematic scheme with two degrees of motion is obtained. As a result the kinematic scheme of an active control sidestick which don’t use a frame is offered. The frameless scheme contains two identical actuators mounted on the fixed base, at that the interference of channels is excluded. The derivation of the actuator gear ratio between the rotation angle of the actuator output shaft and the handgrip deflection angle is given. It is shown that this dependence is of a sinusoidal type and that it is close to linear in the range of the handgrip operating angles. The given results of the parametric synthesis of the control sidestick electromechanical actuator allow to determine the electric motor minimum power and the gear ratio providing the required values of torque and speed at the actuator output link. In consequence of the research of the active control sidestick specific operation modes it is shown that the electric motor power depends on the required values of the maximum speed of the handgrip movement by a pilot and on the force applied to the handgrip, as well as on the handgrip inertia moment.
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Zhu, Xiaolin, Ying Hu, Guan Wu, Wei Chen, and Ningzhong Bao. "Two-Dimensional Nanosheets-Based Soft Electro-Chemo-Mechanical Actuators: Recent Advances in Design, Construction, and Applications." ACS Nano 15, no. 6 (May 21, 2021): 9273–98. http://dx.doi.org/10.1021/acsnano.1c02356.
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Tee, Siau Ping, Mariam Md Ghazaly, Shin Horng Chong, and Irma Wani Jamaludin. "Rotary Switched Reluctance Actuator: A Review on Design Optimization and Its Control Methods." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 3 (September 1, 2017): 1087. http://dx.doi.org/10.11591/ijpeds.v8.i3.pp1087-1100.
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<span style="color: black; font-family: 'Times New Roman','serif'; font-size: 9pt; mso-fareast-font-family: 'Times New Roman'; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: AR-SA; mso-bidi-font-style: italic;">A switched reluctance actuator (SRA) is a type of electromagnetic stepper actuator that is gaining popularity for its simple and rugged construction, ability of extremely high-speed operation and hazard-free operation. SRA gained supremacy over permanent magnet actuators due to the fact that its building material are relatively low cost compared to the expensive and rare permanent magnets. SRA is already making its debut in automotive, medical and high precision applications. However, many parties are still oblivious to this new age actuator. This paper reviews the latest literature in terms of journal articles and conference proceedings regarding the different design parameters and control method of SRA. The impact of the parameters on the performance of SRA are discussed in details to provide valuable insight. This paper also discussed the advantages of various novel SRA structure designs that prove to be a huge contribution to the future technology. It is found that several design parameters such as the air gap when kept minimum, increases torque value; while increasing number of phases in SRA minimizes torque ripples. Increased stator and rotor arc angles will increase torque, not to mention a larger excitation current can also achieve the same effect. Researches are often done through Finite Element Method (FEM) analysis to verify the optimized design parameters before fabrication, whilst experimental procedures are executed to verify the simulation results. To ensure smooth phase switching and improved torque output, intelligent controllers are employed in speed control and direct torque control (DTC) methods of SRA.</span>
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LEE, Y. Y., K. C. LAM, K. K. YUEN, H. F. LAM, and J. YAO. "ACTIVE VIBRATION CONTROL OF AN AIRCRAFT CABIN PANEL USING PIEZOELECTRIC SENSORS AND ACTUATORS." International Journal of Structural Stability and Dynamics 03, no. 01 (March 2003): 131–41. http://dx.doi.org/10.1142/s0219455403000811.
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In this paper, the active vibration suppression of an aircraft cabin panel embedded with piezoelectric sensors and actuators under sinusoidal or random excitation is studied experimentally. The Independent Modal Space Control (IMSC) approach is employed in the controller design. The piezoelectric sensors and actuators associated with the IMSC technique have been applied to the active vibration control of the aircraft panel, and shown to be effective in vibration control. A second order controller is selected in the control scheme to suppress the fundamental modal vibration response of the aircraft cabin panel. The mode shapes of the panel are experimentally obtained, and used as the parameters of the objective functions for minimizing the unwanted vibration responses by appropriately selecting the sensor and actuator gains. Based on the experimental results, it is found that the vibration levels of the open and closed loop systems differ by up to 5.0 dB (for sinusoidal excitation) and 7.4 dB (for random excitation), even when the control circuit is interfered by electrical and magnetic noises.
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Walker, James, Thomas Zidek, Cory Harbel, Sanghyun Yoon, F. Sterling Strickland, Srinivas Kumar, and Minchul Shin. "Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators." Actuators 9, no. 1 (January 10, 2020): 3. http://dx.doi.org/10.3390/act9010003.
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This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.
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HTWE, E. E., S. Hatanaka, and T. Akiyama. "Design and Construction of Automized Assembly Application." ASEAN Journal on Science and Technology for Development 29, no. 1 (June 20, 2012): 21. http://dx.doi.org/10.29037/ajstd.47.
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Nowadays the main stream of current automatic process and assembly is on intermittent transportation. Robot control systems can be divided into motion control and force control depending on the work. Assembly work is necessary to consider the state of force applied by detection of the force or moment on the fingers of the gripper. In this project, four groups designed and developed each one of the stages of the workpieces until the final piece was delivered; it was composed of three different workpieces. The mechanism was designed to set the shaft and fasten the screw into a vacancy in a workpiece. The machine was constructed with frame, base plate, support, gripper and workpieces by using CNC milling, turning, drilling and wirecut machine. This paper briefly describes the design analysis of a conveyor, actuator and motor control system.
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Shavin, Mikhail. "Design and identification of tilt-motor quadrotor control system." MATEC Web of Conferences 211 (2018): 02013. http://dx.doi.org/10.1051/matecconf/201821102013.
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Unmanned aerial vehicle (UAV) with four tilt-motors is considered. The quadrotor includes four servomotors, which allow tilting the motors responsible for the thrust force. Additional control input signals enhance the UAVs maneuverability and forward flight speed in comparison with analogous classically designed UAVs. We develop a mathematical model of the tilt-motor quadrotor dynamics, which takes into account all principal forces and torques. On the basis of the mathematical model we design the control loop for a tiltmotor quadrotor. The implemented control algorithm not only allows to independently control position and attitude of the UAV, but also takes into account non-linear actuators constraints. Sensor signals, upon which the closed controlloop relies, are processed with the aid of Extended Kalman Filter. We demonstrate the performance of the model and the control-loop by simulating UAV’s passing an obstacle course. Our numerical experiments are also instrumental in identifying the key parameters of principal parts of the construction.
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Kota, S., K. J. Lu, Z. Kreiner, B. Trease, J. Arenas, and J. Geiger. "Design and Application of Compliant Mechanisms for Surgical Tools." Journal of Biomechanical Engineering 127, no. 6 (July 26, 2005): 981–89. http://dx.doi.org/10.1115/1.2056561.
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This paper introduces the benefits of exploiting elasticity in the engineering design of surgical tools, in general, and of minimally invasive procedures, in particular. Compliant mechanisms are jointless mechanisms that rely on elastic deformation to transmit forces and motion. The lack of traditional joints in these single-piece flexible structures offers many benefits, including the absence of wear debris, pinch points, crevices, and lubrication. Such systems are particularly amenable to embedded sensing for haptic feedback and embedded actuation with active-material actuators. The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications. Compliant systems have potential to integrate well within the constraints of laparoscopic procedures and telerobotic surgery. A load-path representation is used within a genetic algorithm to solve two gripper example problems. In addition, the paper illustrates the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.
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Author, Crossref, and Onkar Kulkarni, Prithviraj Sawant, Umesh Kamble, Sanchit Godse and Reshma Patil. "Design & Fabrication of Intelligent Bumper and Braking System." International Journal for Modern Trends in Science and Technology 7, no. 03 (April 9, 2021): 16–19. http://dx.doi.org/10.46501/ijmtst0703003.
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In today’s world automation is increasing day by day which includes Pneumatic technology, it had gained tremendous importance from old age & coal mining to modern machines like heavy machinery’s & even in space robot’s. to surf along with the study or market research one should must have knowledge in pneumatic system. The main course of this project is to study on pneumatics’ and to relate the topic in the project. In that case we designed and fabricated Intelligent electronically controlled automotive bumper activation called “PNEUMATIC BUMPER & BRAKING SYSTEM”. This system has a ARDUINO UNO as a micro controller, IR transmitter & Receiver circuit & Pneumatic actuators used as braking & bumper system. Now a day’s accident is a huge problem especially in INDIA due to improper construction of road and tracks. To overcome this problem this project helps in minimizing the accidents & greatest damage to the person if accident takes place.
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Smith, S. T., and D. G. Chetwynd. "An Optimized Magnet-Coil Force Actuator and Its Application to Precision Elastic Mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Mechanical Engineering Science 204, no. 4 (July 1990): 243–53. http://dx.doi.org/10.1243/pime_proc_1990_204_102_02.
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Sprung translation mechanisms driven by electromagnetic force actuators are often used to produce controllable motions. This paper is concerned with one family of such devices incorporating linear spring mechanisms suitable for short-range, high-precision applications. In these, a permanent magnet is attached to the movable translating stage which is, in turn, surrounded by a solenoid coil attached to a fixed datum. Design considerations are discussed, principally an optimum dimensional design for a uniformly wound circular cylindrical coil. Design models are verified by the construction of a simple device in steel and aluminium which demonstrates an open-loop positional accuracy of better than 0.5 per cent over a displacement range of 100 nm to 50 μm.
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Gwiazda, Aleksander, Krzysztof Herbuś, Gabriel Kost, and Piotr Ociepka. "Motion Analysis of Mechatronic Equipment Considering the Example of the Stewart Platform." Solid State Phenomena 220-221 (January 2015): 479–84. http://dx.doi.org/10.4028/www.scientific.net/ssp.220-221.479.
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Modern CAD/CAE allows supporting the process of design and construction at many stages, from concept development through specific engineering calculations to the creation of design documentation. In the case of constructing mechanisms, the kinematic and dynamic analysis of the proposed system is an important step in the introduced process. The paper presents an example of the kinematic and dynamic analysis of the Stewart platform using Siemens NX software [1, 2]. The conducted investigation has allowed determining the geometric characteristics of the mechanism of the Stewart platform as well as the geometric parameters of actuators and their location. A dynamic analysis of the platform helped with establishing the required motor forces for realizing the moves with the maximum speed and acceleration. This allowed the initial selection of the parameters of electric motors. Traffic analysis was also performed for investigating collisions between the parts of the hexapod and between the hexapod and its environment.
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Tho, Tuong Phuoc, and Nguyen Truong Thinh. "Using a Cable-Driven Parallel Robot with Applications in 3D Concrete Printing." Applied Sciences 11, no. 2 (January 8, 2021): 563. http://dx.doi.org/10.3390/app11020563.
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In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.
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Tho, Tuong Phuoc, and Nguyen Truong Thinh. "Using a Cable-Driven Parallel Robot with Applications in 3D Concrete Printing." Applied Sciences 11, no. 2 (January 8, 2021): 563. http://dx.doi.org/10.3390/app11020563.
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In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.
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Manfredi, Luigi, and Alfred Cuschieri. "Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires." Materials 11, no. 10 (October 17, 2018): 2014. http://dx.doi.org/10.3390/ma11102014.
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Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30 ∘ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.
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El Asswad, Mohamad, Samer AlFayad, and Khaled Khalil. "Experimental Estimation of Friction and Friction Coefficient of a Lightweight Hydraulic Cylinder Intended for Robotics Applications." International Journal of Applied Mechanics 10, no. 08 (September 2018): 1850080. http://dx.doi.org/10.1142/s1758825118500801.
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Recently, hydraulic actuator has been used in several engineering applications such as: aeronautics, construction and robotics. This is due to the need of high torque and power density in such engineering applications. Despite these advantages, hydraulic actuators are fabricated from metallic materials, which provoke their heavy weight, which necessitate the development of a lightweight hydraulic actuator, fabricated of composite materials. Using composite materials in hydraulic cylinders, it is important to study the friction force characteristics and to estimate the friction coefficient between composites and O-rings, which is presented in this paper. This paper deals with the estimation of Coulomb friction and friction coefficient in the lightweight hydraulic cylinder fabricated mainly of composite materials. The actuator is presented by its dynamic equation of motion, where each term is discussed including the stiffness coefficient, the viscous damping coefficient, the kinematics and the pressure parameters. Meanwhile, these coefficients and parameters are obtained according to data recorded from conducted experiments. As a result, the new methodology which uses the experimental measurements combined the dynamic model has succeeded to evaluate the friction inside the hydraulic cylinder which has been estimated and found to be around 166[Formula: see text]N, while the corresponding coefficient of friction is computed (about 0.61 as average value). These results will be important for further optimization of the material choice and actuator design, which will help in the amelioration of the hydraulic cylinder.
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Couldrick, Jonathan, Krishnakumar Shankar, Sudhir Gai, and John Milthorpe. "Design of "Smart" flap actuators for swept shock wave/tubulent boundary layer interaction control." STRUCTURAL ENGINEERING AND MECHANICS 16, no. 5 (2003): 519–32. http://dx.doi.org/10.1296/sem2003.16.05.01.
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OKAMURA, Issei, Kenta GOTO, and Wataru NAKAO. "Construction of alloy design technology for hydrogen storage alloy actuator." Proceedings of the Materials and processing conference 2019.27 (2019): 502. http://dx.doi.org/10.1299/jsmemp.2019.27.502.
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Sato, Tasuku, Shinya Sakuma, Masato Hijikuro, Shingo Maeda, Masayuki Anyoji, and Yoko Yamanishi. "Design of Electrohydrodynamic Devices with Consideration of Electrostatic Energy." Cyborg and Bionic Systems 2021 (January 9, 2021): 1–8. http://dx.doi.org/10.34133/2021/5158282.
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The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics. In particular, electrohydrodynamic (EHD) actuators, which have expandable integrability to adapt to the flexible motion of soft robots, have received much attention in the field of soft robotics. Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood. We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera. In addition, we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique. Results indicate the importance of considering flow generated by electrostatic energy, which tends to be ignored in constructing and evaluating EHD devices, and by the body force generated by the ion-drag force. By considering these effects, we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.
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Sato, Tasuku, Shinya Sakuma, Masato Hijikuro, Shingo Maeda, Masayuki Anyoji, and Yoko Yamanishi. "Design of Electrohydrodynamic Devices with Consideration of Electrostatic Energy." Cyborg and Bionic Systems 2021 (January 9, 2021): 1–8. http://dx.doi.org/10.34133/2021/5158282.
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The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics. In particular, electrohydrodynamic (EHD) actuators, which have expandable integrability to adapt to the flexible motion of soft robots, have received much attention in the field of soft robotics. Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood. We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera. In addition, we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique. Results indicate the importance of considering flow generated by electrostatic energy, which tends to be ignored in constructing and evaluating EHD devices, and by the body force generated by the ion-drag force. By considering these effects, we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.
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CALDWELL, DARWIN G., N. G. TSAGARAKIS, SOPHIA KOUSIDOU, NELSON COSTA, and IOANNIS SARAKOGLOU. ""SOFT" EXOSKELETONS FOR UPPER AND LOWER BODY REHABILITATION — DESIGN, CONTROL AND TESTING." International Journal of Humanoid Robotics 04, no. 03 (September 2007): 549–73. http://dx.doi.org/10.1142/s0219843607001151.
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The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/rehabilitation and military applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and, perhaps most critically, safety. This work describes the design, construction and testing of an ultra low-mass, full-body exoskeleton system having seven degrees of freedom (DOFs) for the upper limbs and five degrees of freedom (DOFs) for each of the lower limbs. This low mass is primarily due to the use of a new range of pneumatic muscle actuators as the power source for the system. The work presented will show how the system takes advantage of the inherent controllable compliance to produce a unit that is powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the user. The general layout of both the upper and the lower body exoskeleton is presented together with results from preliminary experiments to demonstrate the potential of the device in limb retraining, rehabilitation and power assist (augmentation) operations.
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Jiang, En Yu, Xiao Jin Zhu, Yong Shao, and Zheng Liang Wang. "Active Vibration Control of Smart Structure Based on Alternate Driving SMA Actuators." Applied Mechanics and Materials 39 (November 2010): 61–66. http://dx.doi.org/10.4028/www.scientific.net/amm.39.61.
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Though with its big restoring force and large deformation characteristic, shape memory alloy (SMA) is commonly used in the research of active vibration control for smart structure, the presence of its thermal hysteresis often leads to bad control performance. A vibration control method based on alternate multichannel driving SMA is proposed to improve the SMA based smart structural vibration control performance by reducing the effect of thermal hysteresis of SMA. The technical methods, the design of the experimental structure, the construction of the experimental platform is illustrated, with the principle and operating process of the experiment and experimental results described. By embedding the SMA driving elements into the epoxy substrate and mounted epoxy plate into the framework of the aircraft prototype, experimental analysis and verification is done. The experimental results show that alternate multichannel driving of SMA for vibration suppression of smart structure is feasible, and the performance is improved to a certain extent.
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Rodika, Rodika, Jamalludin Jamalludin, Handriko Handriko, Aryono Priyambudi, and Aldi Pranata. "Rancang Bangun Robot Pelontar Shuttlecock." Manutech : Jurnal Teknologi Manufaktur 9, no. 01 (May 14, 2019): 67–71. http://dx.doi.org/10.33504/manutech.v9i01.35.
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The design of robot launcher shuttlecock is done by researchers so that the robot produced can help human activity in the field of sports. This throwing robot can be used as a training medium for selftaught players, where practice can be done without a trainer / helpers. Players can practice at any time without being linked with others (trainers / feeders) so that training time can be maximized. The methodology of this tool includes the manufacture and design of hardware and software. The manufacture and design of mechanical hardware involves the construction of aluminum frames, with actuators in the form of motors and pneumatic systems while for the design and manufacture of electronics hardware includes the manufacture of control circuits. Preparation and design of software include programming mikrokontroler ATMega128. From the test results, the robot can throw shuttlecock. Robot can do 6 mode service ie service mode near, far, left, right, random and join with average success percentage equal to 93,35%.