Design Of Actuator Research Articles

Bioinspired H-Bonding Connected Gradient Nanostructure Actuators Based on Cellulose Nanofibrils and Graphene.

The construction of flexible actuators with ultra-fast actuation and robust mechanical properties is crucial for soft robotics and smart devices, but still remains a challenge. Inspired by the unique mechanism of pinecones dispersing seeds in nature, a hygroscopic actuator with interlayer network-bonding connected gradient structure is fabricated. Unlike most conventional bilayer actuator designs, the strategy leverages biobased polyphenols to construct strong interfacial H-bonding networks between 1D cellulose nanofibers and 2D graphene oxide, endowing the materials with high tensile strength (172MPa) and excellent toughness (6.64MJm-3). Furthermore, the significant difference in hydrophilicity between GO and rGO, along with the dense interlayer H-bonding, enables ultra-fast water exchange during water absorption and desorption processes. The resulted actuator exhibits ultra-fast driving speed (154°s-1), excellent pressure-resistant and cyclic stability. Taking advantages of these benefits, the actuator can be fabricated into smart devices (such as smart grippers, humidity control switches) with significant potential for practical applications. The presented approach to constructing interlayer H-bonding in gradient structures is instructive for achieving high performance and functionalization of biomass nanomaterials and the complex of 1D/2D nanomaterials.

Reversible Snapping of Constrained Anisotropic Hydrogels Upon Light Stimulations.

Creatures, such as Venus flytrap and hummingbirds, capable of rapid predation through snap-through transition, provide paradigms for the design of soft actuators and robots with fast actions. However, these artificial "snappers" usually need contact stimulations to trigger the flipping. Reported here is a constrained anisotropic poly(N-isopropylacrylamide) hydrogel showing fast snapping upon light stimulation. This hydrogel is prepared by flow-induced orientation of nanosheets (NSs) within a rectangular tube. The precursor containing gold nanoparticles is immediately exposed to UV light for photopolymerization to fix the ordered structure of NSs. Two ends of the slender gel are clamped to form a buckle with bistability nature, which snaps to the other side upon laser irradiation. Systematic experiments are conducted to investigate the influences of power intensity and irradiation angle of the laser, as well as thickness and buckle height of the gel, on the snapping behaviors. The fast snapping is further used to kick a plastic bead and control the switch state. Furthermore, synergetic or oscillated snapping of the gel with two buckles of opposite directions is realized by inclined irradiation of a laser or horizontal irradiation with two lasers, respectively. Such light-steered snapping of hydrogels should merit designing soft robots, energy harvests, etc.

Optimizing electrode arrangement in plasma actuators: a study on induced velocity and efficiency

This study investigates the performance of two types of multi-encapsulated electrode (MEE) plasma actuators, compared to typical dielectric barrier discharge (DBD) plasma actuators, in quiescent air. The objective is to determine whether the multiple encapsulated structure can enhance the performance of the plasma actuator. In the present paper, flow characteristics are investigated by using particle image velocimetry (PIV) and Schlieren visualisation. In addition, the distribution of body force over the gas volume based on the Navier–Stokes equations is calculated from velocity measurements. The obtained results demonstrate that the starting vortex behavior is influenced by electrode arrangement. Specifically, it can be observed that when the first encapsulated electrode is positioned closer to the exposed electrode, then a significantly higher induced velocity can be obtained compared to the baseline condition. In fact, the induced velocity can be increased by up to 1.5 times under this optimize configuration. These results highlight the importance of electrode arrangement in the plasma actuator design. Based on body force estimation, MEE plasma actuators exhibit a significantly higher momentum transfer, particularly in the wall normal direction. The investigation on the mechanical efficiency also reveals that the optimized configuration proposed in the present study can significantly enhance the efficiency. In fact, a four-fold increase in maximum efficiency compared to the typical configuration is observed. These results suggest that the proposed configuration could be considered a promising solution for improving the mechanical efficiency of plasma actuators.

Photothermal-Responsive Lightweight Hydrogel Actuator Loaded with Polydopamine-Modified Hollow Glass Microspheres.

Aquatic actuators based on the light-to-work conversion are of paramount significance for the development of cutting-edge fields including robots, micromachines, and intelligent systems. Herein, we report the design and synthesis of near-infrared light-driven hydrogel actuators through loading with lightweight polydopamine-modified hollow glass microspheres (PDA-HGMPs) into responsive poly(N-isopropylacrylamide) (PNIPAM) hydrogels. These PDA-HGMPs can not only function as an excellent photothermal agent but also accelerate the swelling/desewlling of hydrogels due to their reconstruction for polymer gel skeleton, which speeds up the response rate of hydrogel actuators. The resulting hydrogel actuator shows controlled movements under light illumination, including complex self-propellant and floating/sinking motions. As the proof-of-concept demonstrations, a self-sensing robot is conceptualized by integrating the PDA-HGMP-containing hydrogel actuator with an ultrathin and miniature pressure sensor. Hopefully, this work can offer some important insights into the research of smart aquatic soft actuators, paving the way to the potential applications in emerging fields including micromachines and intelligent systems.

Temperature-Controlled Laser Processing of Shape Memory Wires: Spherical Ends as Connectors for System Integration

Nickel–Titanium-based shape memory alloys have reached a high technological relevance in the medical field and also for actuation/energy conversion. At present, the interest in new actuation solutions is steadily increasing. However, one important challenge for the design of new actuators is the lack of connection and coupling options, which often hinders a reliable system integration. To address this challenge, this study presents a temperature-controlled laser processing approach for the generation of spherical ends on shape memory wires, which allow a relatively simple integration into different types of systems (e.g., printed circuit boards) in a form-fitting manner. For this purpose, an experimental setup with an integrated pyrometer was used to establish spherical ends on thin NiTi wires with a diameter of 0.24 mm. The resulting microstructures and the functional properties were investigated using scanning electron microscopy, thermal analysis, uniaxial tensile testing, actuation fatigue testing, and hardness measurements. The results obtained in the present study indicate that our laser procedure successfully yields reliable connection options for NiTi wires, without harming the functional performance of the material.

Magnetic Reprogramming of Self‐Assembled Hard‐Magnetic Cilia

AbstractArtificial magnetic cilia are hair‐like structures that can respond to magnetic fields. Using hard magnetic materials in magnetic cilia makes possible programming and reprogramming of the magnetization state and corresponding actuation behaviors. Hard‐magnetic cilia are fabricated through self‐assembly by solvent casting of a slurry of NdFeB microparticles dispersed in a solution of a thermoplastic polyurethane elastomer. These hard‐magnetic cilia are capable of attractive and repulsive responses to magnetic fields, determined by the remanent magnetization of the NdFeB microparticles. An array of cilia can be magnetically reprogrammed through immobilization in ice, applying a damped alternating magnetic field first to reduce the remanent magnetization, and then remagnetizing the cilia with a large field. This demagnetization process significantly improves the reprogrammability of the cilia array. Different responses to magnetic fields can be programmed, including spatially nonuniform behaviors. Reprogrammed hard‐magnetic cilia exhibit unique behaviors in rotating magnetic fields. After reprogramming the magnetization direction along the width of the cilia, rotation and torsion cause them to slowly coil and then quickly uncoil in a snapping behavior. Modeling the magnetic and elastic torques during actuation provides additional insights and aids the design of magnetic cilia actuators based on hard magnets.

Scalable wet-spinning approach to fabricate polydimethylsiloxane composite fibers for tunable photomechanical actuators

Photomechanical actuator with large deformation and rapid response is highly desirable for smart textiles and soft robots. However, the conventional polydimethylsiloxane (PDMS) elastomer-based actuators with multilayered or blocky configuration suffer from interlayer instability, low effective utilization area, and manual assembly process, which limit their practical application. Herein, a series of PDMS composite fibers were fabricated through a scalable wet-spinning approach. To investigate the effects of light-responsive material dimension on the photomechanical performance of PDMS composite fibers, pseudo-1D gold nanorod (AuNR), 1D carbon nanotube (CNT), and 2D reduced graphene oxide (RGO) were used as photoresponsivity materials. To obtain a superior photomechanical property of these fibers, the effects of the light intensity, pre-train, fiber diameter, filler concentration and chemical structure were discussed, and their light-induced actuation mechanisms were presented. Among them, the RGO/PDMS fiber actuator showed the highest actuation stress (72.1 kPa at 40 % pre-stain), while the AuNR/PDMS fiber actuator exhibited the fastest response times of 12.6 s at 40 % pre-strain. This study provides valuable insights for the design and development of fiber actuators with outstanding photomechanical performance.

Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature

Deployable structures based on origami are widely used in the application of actuators. In this paper, we present a novel family of origami-based deployable structures with constant curvature. Two categories of non-flat-foldable and non-developable degree-4 vertices (NFND degree-4 vertices) are introduced. Pyramid structures are constructed based on the NFND degree-4 vertices. Doubly symmetric and singly symmetric spherical origami tubular cells (SOTCs) are established based on pyramid structures. To construct deployable origami modules using SOTCs, linking units are introduced. The mobility of the SOTCs and origami modules is analyzed using constraint screws. To realize the construction and simulation of deployable structures, kinematic and geometric analyses of the doubly symmetric and singly symmetric SOTCs are performed. Finally, we introduce four cases for deployable structures in spherical actuators based on the combination of multiple origami modules. These case studies demonstrate the potential of these deployable origami structures in the design of spherical actuators.

NIR-Mediated Deformation from a CNT-Based Bilayer Hydrogel.

Shape-shifting polymers are widely used in various fields such as intelligent switches, soft robots and sensors, which require both multiple stimulus-response functions and qualified mechanical strength. In this study, a novel near-infrared-light (NIR)-responsible shape-shifting hydrogel system was designed and fabricated through embedding vinylsilane-modified carbon nanotubes (CNTs) into particle double-network (P-DN) hydrogels by micellar copolymerisation. The dispersed brittle Poly(sodium 2-acrylamido-2-methylpropane-1-sulfonate) (PNaAMPS) network of the microgels can serve as sacrificial bonds to toughen the hydrogels, and the CNTs endow it with NIR photothermal conversion ability. The results show that the CNTs embedded in the P-DN hydrogels present excellent mechanical strength, i.e., a fracture strength of 312 kPa and a fracture strain of 357%. Moreover, an asymmetric bilayer hydrogel, where the active layer contains CNTs, can achieve 0°-110° bending deformation within 10 min under NIR irradiation and can realise complex deformation movement. This study provides a theoretical and experimental basis for the design and manufacture of photoresponsive soft actuators.

Development of 6-DOF manipulator driven by ceramics reinforced hydrostatic actuators and its experimental evaluations on force control and payload abilities

The purpose of the Hydracer project is to discuss the system performance of the EHAs (Electro-Hydrostatic Actuators) when integrated into robotic systems. We have developed EHAs focusing on compactness, light-weight, force controllability, and back-drivability. The requirements such as compactness and light-weight lead us to the adoption of high-pressure, which unfortunately contradicts with the other requirements, namely, force controllability and back-drivability. The contradiction indicates the necessity of study to find the balanced specification between them, which was the question we raised when we started the development of Hydracer, a 6-DOF manipulator driven by EHAs. The system design started following the specifications of an industrial standard of small-size manipulators. In the previous paper, we reported on the design and evaluation of actuators, namely, the linear EHA modules for the first three joints from the base and the ceramic-reinforced vane motors for the last three. We could also discuss the preliminary results of force control of the last three (wrist) joints. In this paper, we report on the performance of force-controllability and backdrivability of the first three joints of the manipulator after integrating force controllers and gravity compensation. It provides useful information about the total performance of manipulators driven by EHAs. The RMSEs (root mean square errors) of torques of the first three joints under the gravity compensation were 0.53, 1,7, and 1.2 Nm respectively, while the manipulator could carry 10 kg payload at the horizontally stretched configuration for 5 s.

MRI compatible electromagnetic actuator: magneto-thermal design and optimization

PurposeThe purpose of this study is to develop a magnetic resonance imaging (MRI)-safe iron-free electrical actuator for MR-guided surgical interventions.Design/methodology/approachThe paper deals with the design of an MRI compatible electrical actuator. Three-dimensional electromagnetic and thermal analytical models have been developed to design the actuator. These models have been validated through 3D finite element (FE) computations. The analytical models have been inserted in an optimization procedure that uses genetic algorithms to find the optimal parameters of the actuator.FindingsThe analytical models are very fast and precise compared to the FE models. The computation time is 0.1 s for the electromagnetic analytical model and 3 min for the FE one. The optimized actuator does not perturb imaging sequence even if supplied with a current 10 times higher than its rated one. Indeed, the actuator’s magnetic field generated in the imaging area does not exceed 1 ppm of the B0 field generated by the MRI scanner. The actuator can perform up to 25 biopsy cycles without any risk to the actuator or the patient since he maximum temperature rise of the actuator is about 20°C. The actuator is compact and lightweight compared to its pneumatic counterpart.Originality/valueThe MRI compatible actuator uses the B0 field generated by scanner as inductor. The design procedure uses magneto-thermal coupled models that can be adapted to the design of a variety actuation systems working in MRI environment.

Effect of variable amplitude superimposed wave on piezoelectric actuator performance and experimental performance analysis

In order to bridge the gap between the effects of superposition of unequal amplitude waves on superimposed waves, this paper investigates the effects of variable amplitude superimposed waves on piezoelectric actuators. The generation mechanism of traveling waves is explored from the principle of superposition of waves. A mathematical model of the piezoelectric beam is established based on the Euler-Bernoulli beam theory and the Lagrange equation. It is the first time that the effects of variable amplitude superimposed waves on motion performance are investigated from both theoretical and experimental perspectives. The effects of variable amplitude waves on kinematic performance are tested by changing different excitation frequencies, different positions and different loadings. The relationship between the amplitude ratio A and the motion performance is given. It is shown that there is an approximately linear negative correlation between the amplitude ratio and the motion performance when the amplitude ratio A = 1–2.4. This study provides a new idea for the generation of traveling waves and provides a reference for the design and application of piezoelectric actuators.

Soft Actuator with Biomass Porous Electrode: A Strategy for Lowering Voltage and Enhancing Durability.

Electroactive artificial muscles with deformability have attracted widespread interest in the field of soft robotics. However, the design of artificial muscles with low-driven voltage and operational durability remains challenging. Herein, novel biomass porous carbon (BPC) electrodes are proposed. The nanoporous BPC enables the electrode to provide exposed active surfaces for charge transfer and unimpeded channels for ion migration, thus decreasing the driving voltage, enhancing time durability, and maintaining the actuation performances simultaneously. The proposed actuator exhibits a high displacement of 13.6 mm (bending strain of 0.54%) under 0.5 V and long-term durability of 99.3% retention after 550,000 cycles (∼13 days) without breaks. Further, the actuators are integrated to perform soft touch on a smartphone and demonstrated as bioinspired robots, including a bionic butterfly and a crawling robot (moving speed = 0.08 BL s-1). This strategy provides new insight into the design and fabrication of high-performance electroactive soft actuators with great application potential.

3D Printing of Double Network Granular Elastomers with Locally Varying Mechanical Properties.

Fast advances in the design of soft actuators and robots demand for new soft materials whose mechanical properties can be changed over short length scales. Elastomers can be formulated as highly stretchable or rather stiff materials and hence, are attractive for these applications. They are most frequently cast such that their composition cannot be changed over short length scales. A method that allows to locally change the composition of elastomers on hundreds of micrometer lengths scales is direct ink writing (DIW). Unfortunately, in the absence of rheomodifiers, most elastomer precursors cannot be printed through DIW. Here, 3D printable double network granular elastomers (DNGEs) whose ultimate tensile strain and stiffness can be varied over an unprecedented range are introduced. The 3D printability of these materials is leveraged to produce an elastomer finger containing rigid bones that are surrounded by a soft skin. Similarly, the rheological properties of the microparticle-based precursors are leveraged to cast elastomer slabs with locally varying stiffnesses that deform and twist in a predefined fashion. These DNGEs are foreseen to open up new avenues in the design of the next generation of smart wearables, strain sensors, prosthesis, soft actuators, and robots.

Analytical approach to piezoelectric model synthesis with the use of Cauer's method for system design.

Piezoceramic materials have unique property which enables direct and bilateral conversion between mechanical and electrical energy. This ability facilitates significant miniaturisation of technology and opens many opportunities in design of new actuators and energy harvesters. Mathematical modelling of piezoelectric modules is notoriously hard due to complex constitutive equations defining mechanical and electrical energy conversion. The article presents research on a new synthesis method based on the Cauer's method. Mechanical damping is introduced with the use of Rayleigh's approximation. A discrete electromechanical model is formed based on the Mason's piezoelectric model. The proposed approach allows modelling of piezoelectric systems based on a set of characteristic frequencies. The method allows a more general approach to the problem of modelling new systems, as opposed to application-oriented methods seen in literature. A non-standard model analysis method using edge graphs and structural numbers is also verified as a potential alternative for matrix-based method. The authors compare their precision and computation requirements. The structural method of mechanical model analysis gave identical results as the reference matrix method. However, the non-classical algorithm took much longer to calculate and was using more memory. The electromechanical model analysis has shown an error of 5% in comparison to resonance frequencies taken from a reference plate specification. The calculated magnitude of displacement was well above the capability of a 3.5mm thick piezoelectric plate. The synthesis method presented in this paper allows synthesizing piezoelectric cascade models based on limited information in form of characteristic frequencies. Currently this method allows a coarse approximation of the real piezoelectric parameters with limited number of inputs. The additional method of analysis based on structural numbers offers a promising alternative to matrix calculations but requires a more thorough investigation of the computational power required to determine whether it can compete with existing algorithms.

Numerical and experimental assessment of tilted-helical fiber orientation effects on deformation of pneumatic soft actuators

Pneumatic actuation of fiber-reinforced soft-material slender structures, and specifically inflatable cylinders, plays a key role in soft robotics, particularly for generating sought deformations in terms of, e.g. elongation, expansion, torsion, and bending. Fiber-reinforced tubes were widely investigated, in particular by considering regular helical patterns for the fibers, and multiple sets of fibers were introduced for achieving relatively richer deformations such as coiling (i.e. combined bending and torsion). However, coiling can be obtained even by introducing a single tilted-helical fiber, thus potentially simplifying actuator design and implementation. Therefore, in this study, we numerically investigated the effect of fiber orientation on the coiling behavior of tilted-helical fiber-reinforced cylindrical actuators. Specifically, we used finite element numerical simulations to determine the effect of fiber pitch and tilt angle on the curvature and twist angle of an inflated cylindrical actuator, and we assessed numerical results based on corresponding experiments. Finally, we addressed a preliminary design chart based on the inverse map linking coiling to the corresponding pitch and tilt angle. Our results take an initial step for the design of tilted-helical fiber-reinforced actuators, with potential application to a wider class of inflatable soft actuators to program a desired coiled configuration through the integration of a single tilted-helical fiber.

Semi-analytical modeling of electro-strictive behavior in dielectric elastomer tube actuators

Dielectric elastomer tube actuators (DETAs) facilitate versatile soft robotic motions when activated by electric fields. However, optimizing their performance necessitates understanding complex deformation behaviors under different electrical loading patterns. While prior analytical models provide valuable insights, many rely on assumptions like infinite-length and uniform conditions, limiting their ability to capture experimentally-observed nonuniform deformations. This paper presents a semi-analytical approach permitting both radial and longitudinal electrostatic effects by modeling a dielectric tube of effectively infinite-length. It also incorporates the crucial compression-torsion behavior for soft actuator designs. We validate the model against finite element simulations, achieving excellent agreement. Our efficient technique successfully predicts intricate deformation phenomena in DETAs under combined electrical, mechanical, and geometric effects. Results show the model effectively captures axial and twisting deformations, overcoming limitations of linear twist angle assumptions. This analytical framework offers a powerful tool for optimizing next-generation soft actuators across diverse cutting-edge engineering and robotic applications.

Light- and Solvent-Responsive Bilayer Hydrogel Actuators with Reversible Bending Behaviors.

Light-responsive hydrogel systems have gained significant attention due to their unique ability to undergo controlled and reversible swelling behavior in response to light stimuli. Combining light-responsive hydrogels with nonresponsive polymers offers a unique self-folding feature that can be used in soft robotic actuator designs. However, simple formulation of such systems with rapid response time is still a challenging task. Herein, we demonstrate a simple but versatile bilayer polymeric design combining light-responsive spiropyran-polyacrylamide (SP-PAAm) with polyacrylamide (PAAm) hydrogels. The photochromic spiropyran in our polymer design is a closed-ring, hydrophobic compound and turns into an open-ring, hydrophilic merocyanine isomer under light irradiation. The swelling degree of SP-PAAm and PAAm hydrogels was evaluated using LED lights with different wavelengths and solvent media (e.g., water, ethanol, DMF, and DMSO). We observed that SP-PAAm hydrogels reached a swelling ratio of ∼370% with the illumination of the blue LED in the DMF medium. By combining light-responsive SP-PAAm hydrogels with nonresponsive PAAm, a proof-of-concept demonstration was performed to demonstrate the applicability of our fabricated platforms. Although fabricated one-armed bilayer hydrogels possessed self-folding ability with a folding angle of ∼40° in 30 min, the four-armed bilayer platforms demonstrated more efficient and rapid folding behavior and reached a folding angle of ∼75° in ∼15 min. Given their simplicity and efficiency, we believe that such polymeric designs may offer new avenues for the fields of polymeric actuators and soft robotic systems.

Dielectric barrier discharge actuators: Momentum injection into co-flow and counter-flow freestream

In a quiescent environment, dielectric barrier discharge (DBD) plasma actuators generate a wall jet through the interaction of ionized and neutral molecules in an electric field. In external flow, the coupling between electrohydrodynamic (EHD), turbulence, inertial, and viscous effects in the flow boundary layer is more complex and requires additional investigation. We experimentally study momentum injection by DBD actuators into the free stream flow with Re = 35,000 and 75,000 in co-flow and counter-flow scenarios over a range of VAC = 12 kV–19.5 kV peak-to-peak at a frequency of 2 kHz. In co-flow, the momentum injection leads to boundary layer thinning and fluid entrainment from the freestream into the DBD forcing region, while in the counter-flow configuration, flow separation can occur. A separation bubble is observed at Re = 35,000 for the tested condition. The momentum difference in the counter-flow configuration is six times greater than the EHD jet momentum in a quiescent environment. Both co-flow and counter-flow momentum injections show diminishing effects with higher Re. We show that the resulting flow pattern is not a superposition of the EHD jet and the free stream but is determined by the coupling and competition of inertial, viscous, and Coulombic effects between the EHD-driven forcing and the external flow. The proposed non-dimensional momentum ratio (M*) of EHD jet momentum to momentum in the external flow boundary layer can be used to predict the onset of separation; however, additional experimental and numerical studies are required to generalize this concept to other flow scenarios. The velocity profiles and momentum measurements presented here can be used to validate numerical models and inform the design of DBD actuators for active flow control.

Structural and Material Analysis of an Electromagnetic Actuator for Pressure Control in an Internal Combustion Engine

The article describes the process of selecting the design parameters of the electromagnetic actuator, which was used to regulate the compression pressure in the cylinder of an internal combustion engine. The electromagnetic actuator was installed in the timing system of a single-cylinder internal combustion engine, which forced its basic design parameters in terms of force and frequency of operation. For the electromagnetic actuator in question, field calculations of the esign variants of the linear electromagnetic actuator for two types of materials were conducted. The finite element method was applied to the computer-aided design of electromagnetic actuators. The influence of the magnetic circuit and the dimensions of the windings on the distribution of the magnetic field were analyzed. The thickness and height of the magnetic field induces, and the dimensions of the stator poles have been changed while maintaining the same external dimensions of the actuator for design reasons. All this work was aimed at improving the performance of the internal combustion engine in terms of improving efficiency in terms of partial engine loads. In this area, the internal combustion engine is characterized by low efficiency, significantly deviating from the maximum, and at the same time, during normal operation of vehicles is the area most often exploited.