Journal articles on the topic 'Actuators'
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1
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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Khazravi, M., and A. A. Dehghani-Sanij. "Ionic Polymer-Metal Composite Actuator Behaviour in Two Novel Configurations." Advances in Science and Technology 61 (September 2008): 163–68. http://dx.doi.org/10.4028/www.scientific.net/ast.61.163.
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IPMCs are one of the most promising smart actuators to replace traditional actuators for some specific applications particularly in the micro-nano scales. IPMC actuator’s shape and configuration have a dramatic effect on the actuation parameters. While the behaviour of IPMCs as a single fixed end strip actuator (cantilever) has been widely studied since the early 80’s, its behaviour in other configurations is relatively unknown. This paper presents work carried out in order to reconfigure these actuators for some new applications. The first configuration is when both ends of an IPMC actuator strip are fully constrained, in both the actuator plane and the normal direction. In this case the displacement and force measurements at the mid point of the strip are presented. The results of a series of experiments show the behaviour of the actuator in this configuration and using these results some models have been proposed. The second configuration is when only one end of the strip is fixed and the other end is constrained in the normal direction with respect to the plane of the actuator strip. A series of experiments were also carried out to explore the IPMC actuator behaviour in terms of maximum displacement and force generated in this configuration. The behaviour of the IPMC actuator in these two configurations is also investigated by studying the internal stresses in the IPMC structure.
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Li, Chong, Robert N. Dean, and George T. Flowers. "Nonlinear Observability Analysis of Micro-machined Electrostatic Actuators Using Self-Sensing." Additional Conferences (Device Packaging, HiTEC, HiTEN, and CICMT) 2016, DPC (January 1, 2016): 001632–62. http://dx.doi.org/10.4071/2016dpc-wp36.
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Micro-machined electrostatic actuators (MEA) like parallel plate actuators (PPAs) and comb drive actuators (GCAs) are commonly used in many applications, including gyroscopes, resonators and RF switches. The detection of an actuators' mechanical motion is desired when they are combined with feedback control techniques, especially when the application requires high performance or is affected by disturbances. The motion can be detected by a variety of sensing techniques, including capacitive, piezoresistive and optical. Electrostatic parallel plate actuators can be modeled as a type of variable capacitor, which depends on the gap between a fixed electrode and a movable electrode. Thus, the displacement of the actuator can be obtained by measuring the capacitance. However, this practical method often requires high frequency excitation signal sources or additional sensing structures. The excitation power source not only affects the performance in the actuator's steady state, but it may also generate harmonics that distort the measurement signals due to the nonlinear characteristics of the actuator. In addition, the information about velocity may not be obtained without specific sensing structures. The additional structures occupy more space in each die, which could increase the cost and size, or decrease the performance. In this study, an estimator with a series resistor configuration is proposed. The estimator can estimate the displacement and velocity by measuring the voltage of the power supply and the voltage across the actuator itself. To evaluate the feasibility, a nonlinear observability analysis is applied. The analysis shows the observability index among different system states. A simulation study verified the proposed theories.
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Liang, Kang, Chong Li, Yujian Tong, Jiwen Fang, and Wei Zhong. "Design of a Low-Frequency Harmonic Rotary Piezoelectric Actuator." Actuators 10, no. 1 (December 27, 2020): 4. http://dx.doi.org/10.3390/act10010004.
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Piezoelectric actuators usually operate under a high frequency driving signal. Here we report a harmonic rotating piezoelectric actuator by coupling a harmonic wave generator and a friction rotor, in which the actuator can be actuated by a low-frequency sinusoidal signal with positive bias. The harmonic wave is generated by a two-stage magnifying mechanism consisting of a displacement amplifier and a harmonic rod. Applying piezoelectricity theory, the actuator’s output characteristic equations are deduced. What is more, the output characteristics of piezoelectric actuators are tested with the established experimental system. Results show that the generated harmonic displacements can drive the actuator to work normally at a driving voltage of larger than 90 V and the maximum total harmonic displacement of the piezoelectric actuator comes up to 427.6 μm under the driving voltage of 150 V. Meanwhile, the error between the measured and calculated values of the harmonic displacement is less than 7%. Furthermore, the rotational speed of the piezoelectric actuator reaches 5.45 rpm/min at 150 V voltage and 5 Hz driving frequency.
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Liu, Yonggang, Aoke Zeng, Shuliang Zhang, Ruixiang Ma, and Zhe Du. "An Experimental Investigation on Polarization Process of a PZT-52 Tube Actuator with Interdigitated Electrodes." Micromachines 13, no. 10 (October 18, 2022): 1760. http://dx.doi.org/10.3390/mi13101760.
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The manipulator is the key component of the micromanipulator. Using the axial expansion and contraction properties, the piezoelectric tube can drive the manipulator to achieve micro-motion positioning. It is widely used in scanning probe microscopy, fiber stretching and beam scanning. The piezoceramic tube actuator used to have continuous electrodes inside and outside. It is polarized along the radial direction. There are relatively high polarization voltages, but poor axial mechanical properties. A new tubular actuator is presented in this paper by combining interdigitated electrodes and piezoceramic tubes. The preparation, polarization and mesoscopic mechanical properties were investigated. Using Lead Zirconate Titanate (PZT-52) as a substrate, the preparation process of interdigitated electrodes by screen printing was studied. For initial polarization voltage determination, the local characteristic model of the actuator was extracted and the electric field was analyzed by a finite element method. By measuring the actuator’s axial displacement, we measured the actuator’s polarization effect. Various voltages, times and temperatures were evaluated to determine how polarization affects the actuator’s displacement. Optimal polarization conditions are 800 V, 60 min and 150 °C, with a maximum displacement of 0.88 μm generated by a PZT-52 tube actuator with interdigitated electrodes. PZT-52 tube actuators with a continuous electrode cannot be polarized under these conditions. The maximum displacement is 0.47 μm after polarization at 4 kV. Based on the results, the new actuator has a more convenient polarization process and a greater axial displacement from an application standpoint. It provides technical guidance for the preparation and polarization of the piezoceramic tube actuator. There is potential for piezoelectric tubular actuators to be used in a broader range of applications.
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Sardesai, Aditya N., Xavier M. Segel, Matthew N. Baumholtz, Yiheng Chen, Ruhao Sun, Bram W. Schork, Richard Buonocore, Kyle O. Wagner, and Holly M. Golecki. "Design and Characterization of Edible Soft Robotic Candy Actuators." MRS Advances 3, no. 50 (2018): 3003–9. http://dx.doi.org/10.1557/adv.2018.557.
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ABSTRACTOne of the goals of soft robotics is the ability to interface with the human body. Traditionally, silicone materials have dominated the field of soft robotics. In order to shift to materials that are more compatible with the body, developments will have to be made into biodegradable and biocompatible soft robots. This investigation focused on developing gummy actuators which are biodegradable, edible, and tasty. Creating biodegradable and edible actuators can be both sold as an interactive candy product and also inform the design of implantable soft robotic devices. First, commercially available gelatin-based candies were recast into pneumatic actuators utilizing molds. Edible robotic devices were pneumatically actuated repeatedly (up to n=8 actuations) using a 150 psi power inflator. To improve upon the properties of actuators formed from commercially available candy, a novel gelatin-based formulation, termed the “Fordmula” was also developed and used to create functional actuators. To investigate the mechanics and functionality of the recast gummy material and the Fordmula, compression testing and biodegradation studies were performed. Mechanical compression tests showed that recast gummy materials had similar properties to commercially available candies and at low strain had similar behavior to traditional silicone materials. Degradation studies showed that actuation was possible within 15 minutes in a biologically relevant solution followed by complete dissolution of the actuator afterwards. A taste test with elementary aged children demonstrated the fun, edible, and educational appeal of the candy actuators. Edible actuator development was an entry and winning submission in the High School Division of the Soft Robotics Toolkit Design Competition hosted by Harvard University. Demonstration of edible soft robotic actuators created by middle and high school aged students shows the applicability of the Soft Robotics Toolkit for K12 STEM education.
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Copaci, Dorin, Dolores Blanco, and Luis E. Moreno. "Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application." Actuators 8, no. 3 (August 14, 2019): 63. http://dx.doi.org/10.3390/act8030063.
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New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.
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Steffen, Simon, Markus Nitzlader, Timon Burghardt, Hansgeorg Binz, Lucio Blandini, and Werner Sobek. "An Actuator Concept for Adaptive Concrete Columns." Actuators 10, no. 10 (October 16, 2021): 273. http://dx.doi.org/10.3390/act10100273.
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The building industry accounts for half of the global resource consumption and roughly one third of global CO2 emissions. Global population growth and increasing resource scarcities require engineers and architects to build for more people with less material and emissions. One promising solution are adaptive load-bearing structures. Here, the load-bearing structure is equipped with actuators, sensors, and a control unit which allows the structure to adapt to different load cases, resulting in substantial material savings. While the first prototypes use industry standard actuators to manipulate deformations and stress states, it is essential to develop actuator concepts which fit the specific requirements of civil engineering structures. This paper introduces new concepts for linear actuators, developed within the Collaborative Research Centre (SFB) 1244 Adaptive Skins and Structures for the Built Environment of Tomorrow, which can be used as adaptive concrete columns. The concept of an actuator which actuates a concrete column by external compression through hydraulic pressure is discussed in further detail. This concept allows for controlled axial extension while also increasing the compressive strength of the concrete column.
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Suzuki, Aya, and Minoru Hashimoto. "Development of a PVC Gel Actuator with a Particulate Structure." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 273–75. http://dx.doi.org/10.20965/jrm.2022.p0273.
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Actuators are usually driven in a uniaxial direction, which limits their ability to be driven with multiple degrees of freedom. In this study, we propose an actuator that is not limited to a uniaxial direction. We developed a polyvinyl chloride gel actuator with a particulate structure. The actuator can change its surface shape by displacing each particle in the structure. As the first step in this experiment, each particle was displaced independently, by applying a voltage to the anode to change the actuator’s surface into an uneven shape.
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Salem, Mohamed E. M., and Qiang Wang. "Dimension investigation to pneumatic network bending soft actuators for soft robotic applications." Engineering Research Express 4, no. 1 (January 6, 2022): 015001. http://dx.doi.org/10.1088/2631-8695/ac45e0.
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Abstract Soft actuators have been investigated for robots that interact with people, such as industrial robots, entertainment robots, and medical robots. Although soft actuators have been utilised in several applications, design tools that can assist in the effective and systematic design of actuators are needed. This paper focused on the most common soft actuators for bending motion, the Pneumatic Networks bending actuators. Paper presented a survey on the effects of changing the dimensions on the soft actuator and its cross-section shape on the soft actuator flexibility and the forces generated at different applied pressures. This survey can be used to optimize the dimension ratio for the soft actuator and the cross-section shape. Furthermore, this paper analyzed the possible reasons for the dimension change effect. The performance of the bending soft actuator was evaluated using ABAQUS/CAE software simulation models to provide quantitative insights into the actuators’ behaviours. Thus, this paper provided a lot of insights that can be used to guide and accelerate the soft actuator design process to create strong and flexible Pneumatic Networks bending actuators. Using the paper insights outputs, a soft gripper was designed that can grasp many complex objects without needing any modification in the gripper shape. To show the proposed actuators’ capacity to do complicated movements and expand their applications, a completely soft hand was created that can mimic the mobility of the human hand as nearly as possible, and this ability was verified using hand sign language settings.
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Nakada, Takeshi, Yasushi Morikawa, and Akinori Matsukuma. "New Actuators. Optical Actuator." Journal of the Robotics Society of Japan 15, no. 3 (1997): 338–41. http://dx.doi.org/10.7210/jrsj.15.338.
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El-Agroudy, Mohammed N., Mohammed I. Awad, and Shady A. Maged. "Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove." Micromachines 12, no. 2 (February 11, 2021): 181. http://dx.doi.org/10.3390/mi12020181.
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The soft pneumatic actuators of an assistive exoskeleton hand glove are here designed. The design of the actuators focuses on allowing the actuator to perform the required bending and to restrict elongation or twisting of the actuator. The actuator is then modeled using ABAQUS/CAE, a finite element modeling software, and the open loop response of the model is obtained. The parameters of the actuator are then optimized to reach the optimal parameters corresponding to the best performance. Design of experiment (DOE) techniques are then approached to study the robustness of the system. Software-in-the-loop (SiL) is then approached to control the model variables via a proportional-integral-derivative (PID) control generated by FORTRAN code. The link between the two programs is to be achieved by the user subroutine that is written, where the subroutine receives values from ABAQUS/CAE, performs calculations, and passes values back to the software. The controller’s parameters are tuned and then the closed loop response of the model is obtained by setting the desired bending angle and running the model. Furthermore, a concentrated force at the tip of the actuator is added to observe the actuator’s response to external disturbance.
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Jiang, Xishan, Ning Wang, Jing Zheng, and Jie Pan. "Experimental Validation of Two Types of Force Actuators: A Performance Comparison." Sensors 24, no. 12 (June 18, 2024): 3950. http://dx.doi.org/10.3390/s24123950.
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This paper experimentally investigates the performance of piezoelectric force actuators. Using the same encapsulated piezoelectric stack, an inertial-type actuator and a frame-type actuator are constructed for performance comparison. The experimental results are also used to validate the recently established actuator models, whilst the mechanical and piezoelectrical parameters of the models are experimentally identified. The performance of the actuators is described by the transmitted force(s) and input power flow from the actuators to the base structure with reference to the same electrical input voltage to the stack. The validation is deemed successful due to the strong agreement observed between the measured and predicted actuator performances. Additionally, it is discovered that the frame-type actuator has the capacity to produce significantly higher transmitted forces and input power flow to the base structure compared to the inertial-type actuator. The mechanism underlying the performance disparity between these two types of actuators is also examined. This paper clarifies the mechanism, shedding light on the design and optimization of piezoelectric actuators.
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Kimura, Hitoshi, Takuya Matsuzaki, Mokutaro Kataoka, and Norio Inou. "Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator." Scientific World Journal 2013 (2013): 1–10. http://dx.doi.org/10.1155/2013/128916.
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An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.
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Zhu, Ming Gang, Guo Yong Jin, and Na Feng. "Numerical Study of Active Control of Interior Noise in a Structural-Acoustic Enclosure." Key Engineering Materials 486 (July 2011): 103–6. http://dx.doi.org/10.4028/www.scientific.net/kem.486.103.
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This paper is concerned with the numerical study of active control of interior noise induced by the flexible plates in a coupled enclosure. A cabin-like enclosure with four acoustically rigid walls and two flexible plates is considered. Two types of actuators are used, i.e. acoustic actuators and distributed lead zirconate titanate piezoelectric (PZT) actuators instead of point force actuators. With the control system designed to globally reduce the sound field, different control configurations are considered, including the structural actuator on the incident panel, actuator on the receiving panel, acoustic actuator on the cavity, and their combinations. The effectiveness and performance of the control system corresponding to each configuration are studied numerically, and desirable placement problem of structural actuators in terms of total potential energy reduction are of particular interest.
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Huang, Yan, Fang Wang, Liying Qian, Xiuhua Cao, Beihai He, and Junrong Li. "A fast-response electroactive actuator based on TEMPO-oxidized cellulose nanofibers." Smart Materials and Structures 31, no. 2 (December 20, 2021): 025005. http://dx.doi.org/10.1088/1361-665x/ac4037.
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Abstract Cellulose-based electroactive actuators are promising candidates for biomimetic robots and biomedical applications due to their lightweight, high mechanical strength, and natural abundance. However, cellulose-based electroactive actuators exhibit lower actuation performance than traditional conductive polymer actuators. This work reports a fast-response cellulose-based electroactive actuator based on 2,2,6,6-tetramethylpiperidine-1-oxyl (TEMPO) oxidized nanocellulose (TOCNF) film with layered structure fabricated by evaporation, and gold electrodes prepared by ion sputtering. The residual ions during the TEMPO oxidation process and the layered structure due to self-assembly accelerate the ion migration efficiency in actuators. The proposed actuator can reach a tip displacement of 32.1 mm at a voltage of 10 V and deflect 60° in 5 s. After applying a reverse 10 V voltage, the actuator can also be quickly deflected (42.5 mm). In addition, the actuator also shows high electrical actuation performance at low voltage (5 V). The excellent electroactive performance of as-prepared TOCNF/Au enables the feasibility to be applied to actuators.
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Zhao, Yong-Juan, Yi Zhou, Kai-Xing Ji, Xin-Yu Zhao, Xuan Shao, and Jian-Long Chang. "Influence of Rudder Deflection Angle on Airfoil Lift Characteristics Under the Effect of Synthetic Jet Actuator." Journal of Nanoelectronics and Optoelectronics 16, no. 9 (September 1, 2021): 1475–84. http://dx.doi.org/10.1166/jno.2021.3089.
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Numerical simulations of the synthetic jet actuator adopted are carried out for analyzing the influence of rudder deflection angle on airfoil lift characteristics in detail, under 3°~20° rudder deflection angles, one and two synthetic jet actuators. By comparing the lift performance corresponding to the synthetic jet actuator and the cases without synthetic jet actuator, within the scope of this study, the application of synthetic jet actuator can improve the lift coefficient. For a single synthetic jet actuator, effectively improvement of the lift coefficient occurs, but the lift coefficient curve fluctuates with time. When two actuators are used, different combinations of synthetic jet actuators have different promotion effects on the lift coefficient. When the phase difference of two synthetic jet actuators is 0 or π/2, the fluctuation range of the lift coefficient behave a certain degree of reduction. Due to the controllability of the synthetic jet actuator, the synthetic jet actuator is more advisable in certain conditions to achieve better lift characteristics.
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Zhou, Ling, Xue Jin Shen, Zhen Lu Wang, and Yi Hu. "Performance Comparison of Typical Electrothermal Actuators." Key Engineering Materials 562-565 (July 2013): 528–33. http://dx.doi.org/10.4028/www.scientific.net/kem.562-565.528.
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As the power producer, the micro actuator is an important part of the micro electro- mechanical system, which is used as the conversion of energy, motion and force producing. In this paper, the mechanical models of three bent beam electrothermal actuators are summarized to make comparison with each other and analyze mechanical performance. For Π-shaped actuators, the tip displacements are proportional to temperature increment and length, having no relationship with the beam width and thickness. However, the displacement of Π-shaped actuators is smaller than the one of V-shaped actuators with the same parameters. For V-shaped actuators, the tip displacements of cascaded V-shaped actuators are larger than the ones of single V-shaped actuators with the same parameters. Especially, cascaded V-shaped actuator with secondary beam having no current has the largest displacement.
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Chang, Shyang-Jye, and Jing Chen. "Design and Fabrication of the Large Thrust Force Piezoelectric Actuator." Advances in Materials Science and Engineering 2013 (2013): 1–5. http://dx.doi.org/10.1155/2013/912587.
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This paper presents a novel piezoelectric actuator containing double pushers. By using finite element analysis software, this study simulated the vibration mode and amplitude of piezoelectric actuators. The Taguchi method was used to design the parameters of piezoelectric actuators including length, width, height, and electrodes setting. This paper also presents a discussion regarding the influence that the design parameters had on the actuator amplitudes. Based on optimal design parameters, a novel piezoelectric actuator containing double pushers is produced and some thrust tests are also carried out. From the experiment results, the piezoelectric actuator containing double pushers can provide a greater thrust force than that of traditional actuators containing a single pusher as the preload is greater. Comparing with the traditional actuators, the thrust force of new actuator can be increased by 48% with the double preload.
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Szczerba, Zygmunt, Kamil Szczerba, Marta Żyłka, and Wojciech Żyłka. "Research on a rodless pneumatic actuator with magnetic transfer." Science, Technology and Innovation 10, no. 3 (March 3, 2021): 23–29. http://dx.doi.org/10.5604/01.3001.0014.7859.
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The article presents the results of experimental and numerical tests of a rodless actuator with magnetic transfer. The study concerns the dynamic operation of the actuator. A series of measurements of pressure variability as a function of the distance and speed of the actuator's operation on a real stand were performed. The study was repeated by modeling the system in the FluidSim environment. The obtained variation waveforms were compared with the real ones in order to determine the suitability of this type of tool for testing actuators.
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Smyk, Emil, Sylwester Wawrzyniak, and Kazimierz Peszyński. "Synthetic jet actuator with two opposite diaphragms." Mechanics and Mechanical Engineering 24, no. 1 (September 6, 2020): 17–25. http://dx.doi.org/10.2478/mme-2020-0004.
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AbstractThe synthetic jet actuators are one of the most investigated types of actuators used in heat transfer and active flow control. The energetic efficiency of actuators is a key parameter determining the possibility of device use. The actuators with two or more diaphragms have higher efficiency than the actuators with only one. The paper presents the investigations of the acoustic synthetic jet actuator with two opposite diaphragms. In the paper, synthetic jet velocity, Reynolds number and the energetic efficiency as a function of oscillating actuator frequency, for a different cavity, orifice configuration and one real input power P0 = 2 W were studied. The possibility of theoretical calculation of first and second resonance frequency were checked. The coupling ratio for actuators was calculated. The maximum energetic efficiency was η = 8.67% and Reynolds number Re = 8503. The possibility of using the same dependencies and rules during the design of actuators with two opposite diaphragms as in the case of actuators with one diaphragm was demonstrated. The results may be useful in the design of the actuators of the two membranes.
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Yuan, Zehao. "Current status and prospects of actuator in robotics." Applied and Computational Engineering 11, no. 1 (September 25, 2023): 181–91. http://dx.doi.org/10.54254/2755-2721/11/20230232.
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This paper presents an overview of the current status and prospects of actuators in robotics, focusing on various types of actuators and their unique characteristics, advancements in actuator technology, common applications, and challenges. The different types of actuators discussed include electromagnetic actuators such as geared drive motors and direct drive motors, hydraulic actuators, and pneumatic actuators. Selection criteria for actuators in robotics are also explored, considering factors like energy efficiency, control precision, and cost. The paper highlights recent advancements in miniaturization, energy efficiency, and control and precision of actuators, along with their applications in industrial, medical, service, and military robots. Limitations and challenges associated with these actuators, such as cost constraints, performance and reliability issues, are addressed. Finally, the paper delves into prospects and future developments in actuator technologies, emphasizing emerging trends like soft robotics and artificial muscles, electroactive polymers, human-robot interaction, exploration robots, and the integration of artificial intelligence, sensor fusion, and advanced control algorithms. The paper concludes by discussing the implications of these advancements for the future of robotics and related fields and suggesting areas for further research and development.
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Yan, W. Y., and A. M. Al-Jumaily. "Feasibility of using an active actuator for two-dimensional vibration abatement in a turning process." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 216, no. 4 (December 1, 2002): 335–42. http://dx.doi.org/10.1243/146441902320992428.
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This paper presents a simulation model that considers the radial and tangential vibrations and their abatement using active actuators in a turning process. The model is simulated using Simulink in a MATLAB environment to assess the possibility of using an active actuator to reduce vibrations in two directions. Comparison is made between the two orthogonal actuators scenario and the one inclined actuator scenario. The results indicate that vibration reduction using an active inclined actuator is comparable with that using two orthogonal actuators.
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Afonin, S. M. "Structural Schemes and Structural-Parametric Models of Electroelastic Actuators for Nanomechatronics Systems." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 4 (April 10, 2019): 219–29. http://dx.doi.org/10.17587/mau.20.219-229.
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The parametric structural schemes, structural-the parametric models and the transfer functions of the electroelastic actuators for the nanomechatronics systems are obtained. The transfer functions of the piezoactuator are determined under the generalized piezoelectric effect. The changes in the elastic compliance and the stiffness of the piezoactuator are found, taking into account the type of control. The decision wave equation and the structural-parametric models of the electroelastic actuators are obtained. Effects of the geometric and physical parameters of the electroelastic actuators and the external load on its static and dynamic characteristics are determined. The parameteric structural schemes for the electroelastic actuators for the nanomechatronics systems are obtained. The transfer functions are determined. For calculation of the automatic control systems for the nanometric movements with the electroelastic actuators are obtained the parametric structural schemes and the transfer functions of actuators. Static and dynamic characteristics of the electroelastic actuators are determined. The application of electroelastic actuators solves problems of the precise matching in microelectronics and nanotechnology, compensation of temperature and gravitational deformations, atmospheric turbulence by wave front correction. By solving the wave equation with allowance for the corresponding equations of the piezoelectric effect, the boundary conditions on loaded working surfaces of the electroelastic actuator, the strains along the coordinate axes, it is possible to construct the structural parametric model of the actuator. The transfer functions and the parametric structural schemes of the electroelastic actuator are obtained from the equations describing the corresponding structural parametric models and taking into account the opposed electromotive force of the electroelastic actuator for the nanomechatronics systems.
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Song, Tianwei, Ziqi Zhang, Zhenxing Shi, Dejian Chi, and Xu Duan. "Experiments for control of boundary layer transition by plasma actuators." Journal of Physics: Conference Series 2730, no. 1 (June 1, 2024): 012055. http://dx.doi.org/10.1088/1742-6596/2730/1/012055.
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Abstract Plasma flow control technology is a new type of active flow control technology, and this paper carries out certain research on the basic principle of plasma flow control technology and its application on the wing model. The paper introduces the theory of plasma discharge and analyzes how plasma can control the flow field. A parallel dielectric barrier discharge plasma exciter is then designed and tested by using the Particle Image Velocimetry (PIV) technique to investigate the spatial flow field distributions of single-stage and three-stage actuators, and the mechanism of jet generation by the actuator is analyzed. Finally, the plasma actuator was utilized to control flow separation on a super-zero-boundary airfoil, and the oil droplet interferometric method was used to study the actuator’s role in controlling boundary layer transition. The experiment revealed that increasing the actuator discharge voltage can further reduce wall drag and more effectively delay the transition. Under the given conditions of a head-on angle of 6° and the incoming wind speed of 20 m/s, a two-stage actuator’s continuous discharge parameter was set to an output voltage of 12 kV and an output frequency of 4.7 kHz. The results showed that the transition position can be delayed by 13%, indicating the effectiveness of the actuator’s jet effect in enhancing the stability of the boundary layer flow.
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Bernat, Jakub, Jakub Kołota, Piotr Gajewski, Agnieszka Marcinkowska, Maciej Komosinski, and Szymon Szczęsny. "Damage Prediction for Integrated DEAP and MRE Soft Actuators." Energies 17, no. 11 (June 4, 2024): 2745. http://dx.doi.org/10.3390/en17112745.
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Soft robotics is a hot scientific topic in areas such as medicine and medical care, implantology, haptic technologies, and the design of various flexible structures. Integrated actuators (DEAP and MRE) are characterized by special functionality and a wider range of operations than when used individually. Such actuators can later be controlled with high voltages ranging from several to a dozen or so kV. Unfortunately, the production process of integrated actuators is multi-stage and therefore more complicated. Thus, at the stage of prototyping, microscopic errors often occur that cannot be detected using simple measurement methods. The result of such errors is actuator damage at the testing stage or in subsequent application. Unfortunately, due to high voltages, actuator damage usually leads to it catching fire, which is potentially dangerous. This work presents an approach that enables the prediction of actuator damage at the testing stage. The results of modeling damaged actuators, a modified safe testing method, and a complete supervising system for testing the actuator with protection are shown. The work is also enriched with a set of data from the analyzed damage to DEAP and MRE actuators, which may prove useful in other research on the actuators of soft robotics.
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Ma, Zhaoqi, and Dan Sameoto. "A Review of Electrically Driven Soft Actuators for Soft Robotics." Micromachines 13, no. 11 (November 1, 2022): 1881. http://dx.doi.org/10.3390/mi13111881.
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In recent years, the field of soft robotics has gained much attention by virtue of its aptness to work in certain environments unsuitable for traditional rigid robotics. Along with the uprising field of soft robotics is the increased attention to soft actuators which provide soft machines the ability to move, manipulate, and deform actively. This article provides a focused review of various high-performance and novel electrically driven soft actuators due to their fast response, controllability, softness, and compactness. Furthermore, this review aims to act as a reference guide for building electrically driven soft machines. The focus of this paper lies on the actuation principle of each type of actuator, comprehensive performance comparison across different actuators, and up-to-date applications of each actuator. The range of actuators includes electro-static soft actuators, electro-thermal soft actuators, and electrically driven soft pumps.
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Chaudhry, Z., and C. A. Rogers. "Enhanced Structural Control with Discretely Attached Induced Strain Actuators." Journal of Mechanical Design 115, no. 4 (December 1, 1993): 718–22. http://dx.doi.org/10.1115/1.2919260.
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A new configuration where induced strain actuators such as piezoelectric ceramic patches or shape memory alloys are attached to a structure at discrete points (as opposed to being bonded) is presented. This paper specifically addresses discretely attached induced strain actuators like piezoceramic and electrostrictive actuators which are available in the form of plates or patches, and includes actuator flexural stiffness considerations. When activated, such actuators deform along with the structure (like bonded actuators), but in this case the actuator and the structure are free to deform independently. In such a scenario, the in-plane force of the actuator results in an additional moment on the structure and enhanced structural control. Also because now the actuator can be offset from the structure without an increase in the basic flexural stiffness of the structure, the actuator offset distance can be optimized to maximize actuator authority. Enhanced control is demonstrated by comparing the static response of a discretely attached actuator/beam system with its bonded counterpart system. Through a proper choice of the offset distance, the flexural control authority measured in terms of the moment applied to the substrate structure can be increased considerably for stiff and thick substrates. The advantage of this configuration over the bonded configuration is also verified experimentally. The limitations and considerations for the implementation of the concept in realistic structures are also discussed.
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Lee, C. K., and F. C. Moon. "Modal Sensors/Actuators." Journal of Applied Mechanics 57, no. 2 (June 1, 1990): 434–41. http://dx.doi.org/10.1115/1.2892008.
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A piezoelectric laminate theory that uses the piezoelectric phenomenon to effect distributed control and sensing of structural vibration of a flexible plate has been used to develop a class of distributed sensor/actuators, that of modal sensors/actuators. The one-dimensional modal sensors/actuator equations are first derived theoretically and then examined experimentally. These modal equations indicate that distributed piezoelectric sensors/actuators can be adopted to measure/excite specific modes of one-dimensional plates and beams. If constructed correctly, actuator/observer spillover will not be present in systems adopting these types of sensors/actuators. A mode 1 and a mode 2 sensor for a one-dimensional cantilever plate were constructed and tested to examine the applicability of the modal sensors/actuators. A modal coordinate analyzer which allows us to measure any specific modal coordinate on-line real-time is proposed. Finally, a way to create a special two-dimensional modal sensor is presented.
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Lee, Tae-Hoon, Gun-Ha Yoon, Je-Won Kang, and Seung-Bok Choi. "An experimental comparison of the pedestrian safety performances of a spring actuator and a pyrotechnic actuator for deploying an active hood lift system." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 231, no. 7 (April 23, 2017): 973–83. http://dx.doi.org/10.1177/0954407017701534.
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This research experimentally investigates the pedestrian safety performance of an active hood lift system of a passenger vehicle by adopting two different actuators: a spring actuator and a pyrotechnic actuator (gunpowder). After briefly introducing the working principle of the active hood lift system with the two different actuators, experiments to measure the deployment time of the system are carried out to evaluate the pedestrian safety. Subsequently, headform impact tests on the hood are performed to generate the impact force, and hence the mitigation of pedestrian injuries is investigated for the two different actuators. By comparing the measured performances obtained from both actuators, it is shown that the pyrotechnic actuator can provide a faster deployment system time. It is also identified that the spring actuator can provide a better safety performance for protecting adult pedestrians, whereas the safety performance of the pyrotechnic actuator is relatively low. Consequently, the pyrotechnic actuator is redesigned and manufactured to improve its safety performance and tested again. Then, it is shown that the modified pyrotechnic actuator can provide a better protection effect for an adult pedestrian than the spring actuator can.
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McCormick, F., and S. Ghaemi. "Feed-forward Control of Vortices Using Real-Time Particle Image Velocimetry." Proceedings of the International Symposium on the Application of Laser and Imaging Techniques to Fluid Mechanics 20 (July 11, 2022): 1–22. http://dx.doi.org/10.55037/lxlaser.20th.25.
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Active flow control (AFC) is a topic with enormous potential for improving a wide array of technologies. This work presents the use and evaluation of a novel AFC system to apply feed-forward control to vortices formed in the wake of a wall-mounted spherical cap. A real-time particle image velocimetry (RT-PIV) system served as the sensor for the AFC system. The RT-PIV system produced 7.35 vector fields per second, each consisting of a two-dimensional grid of 5 × 37 velocity vectors. The actuator system consisted of a rubber surface that could deform using 16 independently controlled linear actuators. The actuators were controlled to apply wall-normal surface deformation at velocities proportional to wall-normal velocities measured by the RT-PIV system upstream of each of the 16 actuators. Analysis of the RT-PIV measurements in comparison to those from an offline PIV system run in parallel indicated that the RT-PIV system produced accurate flow measurements. As well, it was found that the RT-PIV system had a delay of approximately 0.09 seconds. The evaluation of the actuator system indicated that the actuator displacements were consistently damped by 20-25% and lagged the control signal by approximately 0.1 seconds relative to the input signal to the actuators. Therefore, the AFC system had a total delay of approximately 0.2 seconds and applied slightly weaker than specified actuations. These results were within anticipated values and, overall, the AFC system functioned adequately. The impacts of the flow control included disruption of the coherent ejection and sweep structures formed in the wake of the spherical cap and the formation of numerous smaller turbulent structures. As well, several of the control cases showed altered wall-normal velocity fluctuation variance fields in comparison to that of the unforced wake. This is a promising result for AFC using deformable surface actuators as it shows that the active control had a significant effect on an average quantity of the flow.
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Ampo, Takahiro, and Takahide Oya. "Development of Paper Actuators Based on Carbon-Nanotube-Composite Paper." Molecules 26, no. 5 (March 8, 2021): 1463. http://dx.doi.org/10.3390/molecules26051463.
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We propose a unique soft actuator—a paper actuator—based on carbon-nanotube-composite paper (CNT-composite paper), which is a composite of carbon nanotubes (CNTs) and paper. CNT-composite paper has highly efficient properties because of the contained CNTs, such as high electrical conductivity and semiconducting properties. We are considering using CNT-composite paper for various devices. In this study, we successfully developed a paper actuator. We determined the structure of the paper actuator by referencing that of bucky-gel actuators. The actuator operates using the force generated by the movement of ions. In addition to making the paper actuator, we also attempted to improve its performance, using pressure as an index and an electronic scale to measure the pressure. We investigated the optimal dispersant for use in paper actuators, expecting the residual dispersant on the CNT-composite paper to affect the performance differently depending on the type of dispersant. Referring to research on bucky-gel actuators, we also found that the addition of carbon powder to the electrode layers is effective in improving the pressure for paper actuators. We believe that the paper actuator could be used in various situations due to its ease of processing.
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Matsuoka, Hiroki, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, and Pierre Lambert. "Development of a Rubber Soft Actuator Driven with Gas/Liquid Phase Change." International Journal of Automation Technology 10, no. 4 (July 5, 2016): 517–24. http://dx.doi.org/10.20965/ijat.2016.p0517.
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Soft rubber actuators are very useful in applications involving humans, such as in medicine and reflexology. Additionally, they are useful in industrial devices because of their softness. However, many soft rubber actuators are driven by pneumatic power, and the power source is usually bulky. This makes the application of soft rubber actuators difficult. In this study, we propose a novel small power source for soft rubber actuators, which uses the gas/liquid phase change phenomenon of the actuator working fluid. When fluids change their phase between liquid and vapor, a large volume change occurs. We assume that this volume change is sufficient to drive a single soft rubber actuator. We fabricated a prototype of an actuator comprised entirely of silicone rubber via a molding process. Using the first prototype, we confirmed that the actuator can be driven by the gas/liquid phase change of the actuator fluid. Then, we fabricated a second prototype that includes a cartridge heater inside its body. We applied an electronics coolant fluid to this actuator. From the results of several experiments, we confirmed that the actuator produced a maximum output force of 405 mN. When the actuator was driven by the gas/liquid phase change, its trajectory was almost the same as that when driven by air pressure. Hence, the proposed pressure source maintained the characteristics and advantages of the soft rubber actuator. We believe that a pressure source using the gas/liquid phase change phenomenon of a working fluid will mitigate the problems of the driving system of soft rubber actuators.
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Cai, Chun Hua, and Ming Qin. "Achieving High-Performance Bulk Silicon Electrothermal Actuator on CMOS Substrate." Applied Mechanics and Materials 229-231 (November 2012): 2178–81. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.2178.
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In this paper, a new approach for increasing the sensitivity of the bulk silicon electrothermal actuators is reported. And the bulk-Si MEMS electrothermal actuators are fabricated on the CMOS substrate by a novel and simple post-CMOS process. Through this technology, the substrate isolation and electrical interconnection between the CMOS circuits and MEMS sensors are achieved perfectly. The measurement results show that the sensitivity of the modified electrothermal actuators is about 6 times higher than that of the non-modified electrothermal actuators. And the sensitivities (non-linearity) of the modified and non-modified electrothermal actuators are 20.23μm/V (0.865%) and 3.34μm/V (0.37%), respectively. Furthermore, the finite element software ANSYS was used to verify the design and the models of the electrothermal actuator. The electrothermal actuator was characterized under the 3D microscopy.
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Furutani, Katsushi, and Taizo Makino. "Influence of Matrix Circuit Switching Device Junction Capacitance on Piezoelectric Actuator Drive Performance." International Journal of Automation Technology 3, no. 3 (May 5, 2009): 313–18. http://dx.doi.org/10.20965/ijat.2009.p0313.
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Piezoelectric actuators are widely used as fine-motion actuators for positioning devices. Current pulse driving reduces displacement hysteresis, and the drive circuit provides current pulses considered constant charge pulses to the piezoelectric actuator. The circuit for devices with multiple degrees of freedom using multiple piezoelectric actuators should be simple. Matrix circuits are used to drive liquid crystal displays to reduce the number of drive-circuit control signals and components. A group of 2 × 2 piezoelectric actuators was driven alternately using a 4-switch matrix circuit, and two field effect transistors were used as a fast matrix circuit switch. Piezoelectric actuator drive performance was studied in the case of using the current pulse circuit and the matrix circuit. When the matrix circuit drove actuators performing as capacitive loads, switching device junction capacitors adversely affected drive performance.
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Connolly, Fionnuala, Conor J. Walsh, and Katia Bertoldi. "Automatic design of fiber-reinforced soft actuators for trajectory matching." Proceedings of the National Academy of Sciences 114, no. 1 (December 19, 2016): 51–56. http://dx.doi.org/10.1073/pnas.1615140114.
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Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.
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Xie, Xin, Majid Bigdeli Karimi, Sanwei Liu, Battushig Myanganbayar, and Carol Livermore. "Micro Motion Amplifiers for Compact Out-of-Plane Actuation." Micromachines 9, no. 7 (July 23, 2018): 365. http://dx.doi.org/10.3390/mi9070365.
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Small-scale, out-of-plane actuators can enable tactile interfaces; however, achieving sufficient actuator force and displacement can require larger actuators. In this work, 2-mm2 out-of-plane microactuators were created, and were demonstrated to output up to 6.3 µm of displacement and 16 mN of blocking force at 170 V. The actuators converted in-plane force and displacement from a piezoelectric extensional actuator into out-of-plane force and displacement using robust, microelectromechanical systems (MEMS)-enabled, half-scissor amplifiers. The microscissors employed two layers of lithographically patterned SU-8 epoxy microstructures, laminated with a thin film of structural polyimide and adhesive to form compact flexural hinges that enabled the actuators’ small area. The self-aligned manufacture minimized assembly error and fabrication complexity. The scissor design dominated the actuators’ performance, and the effects of varying scissor angle, flexure thickness, and adhesive type were characterized to optimize the actuators’ output. Reducing the microscissor angle yielded the highest actuator performance, as it maximized the amplification of the half-scissor’s displacement and minimized scissor deformation under externally applied loads. The actuators’ simultaneously large displacements and blocking forces for their size were quantified by a high displacement-blocking force product per unit area of up to 50 mN·µm/mm2. For a linear force–displacement relationship, this corresponds to a work done per unit area of 25 mN·µm/mm2.
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Guo, Liqiang, Ke Li, Guanggui Cheng, Zhongqiang Zhang, Chu Xu, and Jianning Ding. "Design and Experiments of Pneumatic Soft Actuators." Robotica 39, no. 10 (February 17, 2021): 1806–15. http://dx.doi.org/10.1017/s0263574720001514.
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SUMMARYThe soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft actuator. The results show that the two soft actuators have the best actuation performance when the inner diameter of the soft tube is 4 mm. In addition, when the twisting pitch of the torsional actuator is 24 mm, its torsional performance is optimized. Finally, a device that can be used in the production line was assembled by utilizing those soft actuators, and some operation tasks were completed. This experiment provides some insights for the development of soft actuators with more complex motions in the future.
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Hofmann, Viktor, and Jens Twiefel. "Optimization of a Piezoelectric Bending Actuator for a Tactile Virtual Reality Display." Energy Harvesting and Systems 2, no. 3-4 (April 14, 2015): 177–85. http://dx.doi.org/10.1515/ehs-2014-0055.
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Abstract The excitation of mechanoreceptors in the finger with different frequencies and intensities generates a tactile impression. For the experience of a complete surface many distributed sources are needed in the tactile display. For these local stimulations of the finger several piezoelectric bending actuators will be arranged in an array perpendicular to the skin. The challenge in the system design is to transfer high dynamic shear forces to the skin at required frequencies together with a compact display design. In order to estimate the dynamic behavior of the bending actuators a transfer matrix method model based on the Timoshenko beam theory is derived. Beside the outer geometric values, the layered structure of the actuator is included in the model. In addition the influence of the load on the actuator’s tip in lateral and in normal direction as well as on the rotational degree of freedom is taken into account. Using the analytical approach, a parametric study is carried out to find an optimized actuator design for the display. For the validation, the modeled beam is compared with experimental data.
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Cha, Kyoung Rae, Gwang Ho Kim, Ju Hwan Kim, and Sang Hwa Jeong. "A Study on Anthropomorphic Robot Hand Simulation Driven by SMA Wire Using Segment Control." Key Engineering Materials 345-346 (August 2007): 1249–52. http://dx.doi.org/10.4028/www.scientific.net/kem.345-346.1249.
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In recent years, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Actuators are one of the key technologies underpinning robotics. Particularly breakthroughs of power-to-weight ratio or energy-density in actuator technology have significant impacts upon the design and the control of robotic systems. The widely used materials for artificial muscle are the shape memory alloy and electro-active polymer. These actuators have the higher energy density than the electromechanical actuators such as the electric motor. However, there are some drawbacks because these actuators have the hysteretic dynamic characteristics. In this paper, the segment control for reducing the hysteresis of SMA is proposed and the simulation of an anthropomorphic robotic hand is performed using ADAMS. A new approach to design and control of SMA actuators is presented. SMA wire is divided into many segments and their thermal states are controlled individually in a binary manner(ON/OFF). The basic experiment for evaluating the dynamic characteristics of SMA wire actuator is performed.
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Zhou, Bo, Xiao Ma, and Shifeng Xue. "Nonlinear Analysis of Laminated Beams with Braided Fiber Piezoelectric Composite Actuators." International Journal of Applied Mechanics 12, no. 04 (May 2020): 2050043. http://dx.doi.org/10.1142/s175882512050043x.
Full textAbstract:
This paper presents a novel approach for improving the reliability and driving capability of piezoelectric actuators by developing braided fiber piezoelectric composite (BFPC) actuators. The nonlinear analysis of laminated beams integrated with the BFPC actuators under electric load is presented. According to Timoshenko beam theory and von Kármán nonlinear geometric relation, the strain components of the piezoelectric laminated beams are obtained. The nonlinear governing equations of the piezoelectric laminated beams are derived by the Galerkin method and principle of minimum potential energy, and then are solved through the direct iterative method. The accuracy of this method is demonstrated by its comparison with the published results. The driving capability of the BFPC actuator and the existing piezoelectric composite actuator is compared. The influences of the fiber volume fraction, actuator thickness, simply supported beam thickness and applied voltage on the driving capability of the BFPC actuators are discussed through a comprehensive parametric study. The numerical results illustrate that the BFPC actuators with excellent driving capability can effectively control the deformation of smart structures.