Actuator Research Papers - Academia.edu (original) (raw)

This paper presents an innovative approach to fluidic pumping, utilizing the principles of soft robotics. The focus is based on designing a pump that circulates fluid through a soft conduit by using a soft robotic pump. A parametric... more

This paper presents an innovative approach to fluidic pumping, utilizing the principles of soft robotics. The focus is based on designing a pump that circulates fluid through a soft conduit by using a soft robotic pump. A parametric finite element model is developed to predict the required pressure for actuating the pump elements, and a meta-model is created to optimize the pressure for maximum flow rate with minimal power. The study employs the Mooney-Rivlin 5 Parameters hyper-elastic material model to ensure material properties are accurately accounted for. MATLAB Simulink Simscape modeling tool is used to mimic peristaltic pump motion and actuation sequences to calculate flow rates. The optimal design values are determined and experimental results are compared with simulation results to verify and validate the effectiveness of the approach. This study demonstrates that linearly sequenced soft squeeze actuators can be trans-formed into a scalable pump with proper control, providin...

RANCANG BANGUN MEJA PUTAR ELEKTRIK UNTUK PROSES PEMBUATAN KERAJINAN GERABAH Oleh : Bayu Ardiansyah NIM. 11506134018 ABSTRAK Tujuan pembuatan proyek akhir ini adalah Membuat rancang bangun meja putar elektrik berbasis Mikrokontroler ATMega... more

RANCANG BANGUN MEJA PUTAR ELEKTRIK UNTUK PROSES PEMBUATAN KERAJINAN GERABAH Oleh : Bayu Ardiansyah NIM. 11506134018 ABSTRAK Tujuan pembuatan proyek akhir ini adalah Membuat rancang bangun meja putar elektrik berbasis Mikrokontroler ATMega 8 dengan menggunakan motor DC sebagai penggerak yang dapat diatur kecepatannya, dan Mengetahui hasil unjuk kerja meja putar elektrik. Metode yang digunakan dalam proyek akhir ini adalah dengan metode rancang bangun yang terdiri dari beberapa tahapan, yaitu : (1) analisis kebutuhan sistem, (2) desain /perancangan sistem, (3) perakitan hardware dan pengkodean software (coding), dan (4) pengujian. Alat ini terdiri dari : (1) Potensiometer yang terdapat pada pedal kaki serta push button sebagai masukan data untuk mengatur kecepatan motor DC, (2) Mikrokontroler ATmega 8 sebagai unit kontrol yang memproses data dari potensiometer dan push button, (3) Driver motor sistem relay yang dikontrol oleh mikrokontroler, (4) Motor DC sebagai aktuator serta (5) LED...

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain... more

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singular...

This paper presents the development of a soft rehabilitation robot to conduct Continuous Passive Motion (CPM) for hand rehabilitation. The main contribution of this work is the implementation of a McKibben actuator as an artificial muscle... more

This paper presents the development of a soft rehabilitation robot to conduct Continuous Passive Motion (CPM) for hand rehabilitation. The main contribution of this work is the implementation of a McKibben actuator as an artificial muscle due to its proven advantages: simple structure, light weight, and high power-to-weight ratio. The development worked successfully when tested on a healthy subject, where the flexion and extension of the finger were controlled with an antagonistic pair of actuators. However, there is a limitation of the McKibben actuator regarding its length-dependency. In this research, the concept of a pulley system was proposed to overcome this limitation. Although there is a friction factor that reduces the contracting displacement by at least 15% of the original displacement, a pulley is still a potential solution as it can reduce the installation space of the actuator from 40 to 15cm while still producing sufficient force for the finger motion. Throughout this...

This paper presents a review of the current applications of Micro-Electro-Mechanical Systems (MEMS) in the robotics and industrial applications. MEMS are widely used as actuators or sensors in numerous respects of our daily life as well... more

This paper presents a review of the current applications of Micro-Electro-Mechanical Systems (MEMS) in the robotics and industrial applications. MEMS are widely used as actuators or sensors in numerous respects of our daily life as well as automation lines and industrial applications. Intersection of founding new polymers and composites such as silicon and micro manufacturing technologies performing micro-machining and micro-assembly brings about remarkable growth of application and efficacy of MEMS devices. MEMS indicated huge improvement in size reduction, higher reliability, multi-functionality, customized design, and power usage. Demonstration of various devices and technologies utilized in robotics and industrial applications are illustrated in this article along with the use and the role of silicon in the development of the sensors. Some future trends and its perspectives are also discussed.

Purpose of this work was to determine piezo-electric actuator transfer function according to the air pressure sensor signal using virtual instruments. During work was created a virtual piezo-electric sensor transfer function measurement... more

Purpose of this work was to determine piezo-electric actuator transfer function according to the air pressure sensor signal using virtual instruments. During work was created a virtual piezo-electric sensor transfer function measurement model proving that in order to change the sensor frequency amplitude do not need to use electronics items.

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... more

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-dr...

En mi condición de autor(es) del artículo titulado "DISEÑO DE UN BANCO PARA LA DETERMINACIÓN PRÁCTICA DEL COEFICIENTE DE VÁLVULAS, NORMA VDI/VDE 2173", autorizo al Comité Editorial de la Revista Ingeniería, Investigación y... more

En mi condición de autor(es) del artículo titulado "DISEÑO DE UN BANCO PARA LA DETERMINACIÓN PRÁCTICA DEL COEFICIENTE DE VÁLVULAS, NORMA VDI/VDE 2173", autorizo al Comité Editorial de la Revista Ingeniería, Investigación y Desarrollo, para que asigne pares evaluadores que conceptúen sobre la pertinencia de la publicación de mi (nuestro) artículo. También declaro que este artículo es original y soy (somos) responsable(s) del contenido que presento (presentamos), de igual forma autorizo su publicación en el caso que sea aceptado por el comité editorial de la Revista Ingeniería, Investigación y Desarrollo (ISSN1900-771X) de la Uptc, sede Sogamoso. La revista se acoge a la normativa de la ley 23 de 1982.

This paper deals with new method for designing the tuned mass dampers (TMD) with considering both transient and steady state responses, simultaneously. This formulation is presented for undamped vibrations. For this purpose, the absolute... more

This paper deals with new method for designing the tuned mass dampers (TMD) with considering both transient and steady state responses, simultaneously. This formulation is presented for undamped vibrations. For this purpose, the absolute value of the structural displacement ratio is minimized numerically. This procedure leads to optimum value of TMD's specifications. For numerical verification, the vibrations of some structures a controlled by proposed method. Results show the efficiency of the proposed technique in comparison with other existing approaches.

Piezoelectric microelectromechanical systems (piezoMEMS) enable dense arrays of actuators which are often driven to higher electrical fields than their bulk piezoelectric counterparts. In bulk ceramics, high field driving causes internal... more

Piezoelectric microelectromechanical systems (piezoMEMS) enable dense arrays of actuators which are often driven to higher electrical fields than their bulk piezoelectric counterparts. In bulk ceramics, high field driving causes internal heating of the piezoelectric, largely due to field-induced domain wall motion. Self-heating is then tracked as a function of vibration velocity to determine the upper bound for the drive levels. However, the literature is limited concerning self-heating in thin film piezoMEMS. In this work, it is shown that self-heating in piezoMEMS transducer arrays occurs due to domain wall motion and Ohmic losses. This was demonstrated via a systematic study of drive waveform dependence of self-heating in piezoMEMS arrays. In particular, the magnitude of self-heating was quantified as a function of different waveform parameters (e.g., amplitude, DC offset, and frequency). Thermal modeling of the self-heating of piezoMEMS using the measured hysteresis loss from el...