Large Actuation Forces Research Articles

Stiff morphing composite beams inspired from fish fins.

Morphing materials are typically either very compliant to achieve large shape changes or very stiff but with small shape changes that require large actuation forces. Interestingly, fish fins overcome these limitations: fish fins do not contain muscles, yet they can change the shape of their fins with high precision and speed while producing large hydrodynamic forces without collapsing. Here, we present a 'stiff' morphing beam inspired from the individual rays in natural fish fins. These synthetic rays are made of acrylic (PMMA) outer beams ('hemitrichs') connected with rubber ligaments which are 3-4 orders of magnitude more compliant. Combinations of experiments and models of these synthetic rays show strong nonlinear geometrical effects: the ligaments are 'mechanically invisible' at small deformations, but they delay buckling and improve the stability of the ray at large deformations. We use the models and experiments to explore designs with variable ligament densities, and we generate design guidelines for optimum morphing shape (captured using the first moment of curvature), that capture the trade-offs between morphing compliance (ease of morphing the structure) and flexural stiffness. The design guidelines proposed here can help the development of stiff morphing bioinspired structures for a variety of applications in aerospace, biomedicine or robotics.

Gradients of properties increase the morphing and stiffening performance of bioinspired synthetic fin rays

State-of-the-art morphing materials are either very compliant to achieve large shape changes (flexible metamaterials, compliant mechanisms, hydrogels), or very stiff but with infinitesimal changes in shape that require large actuation forces (metallic or composite panels with piezoelectric actuation). Morphing efficiency and structural stiffness are therefore mutually exclusive properties in current engineering morphing materials, which limits the range of their applicability. Interestingly, natural fish fins do not contain muscles, yet they can morph to large amplitudes with minimal muscular actuation forces from the base while producing large hydrodynamic forces without collapsing. This sophisticated mechanical response has already inspired several synthetic fin rays with various applications. However, most ‘synthetic’ fin rays have only considered uniform properties and structures along the rays while in natural fin rays, gradients of properties are prominent. In this study, we designed, modeled, fabricated and tested synthetic fin rays with bioinspired gradients of properties. The rays were composed of two hemitrichs made of a stiff polymer, joined by a much softer core region made of elastomeric ligaments. Using combinations of experiments and nonlinear mechanical models, we found that gradients in both the core region and hemitrichs can increase the morphing and stiffening response of individual rays. Introducing a positive gradient of ligament density in the core region (the density of ligament increases towards the tip of the ray) decreased the actuation force required for morphing and increased overall flexural stiffness. Introducing a gradient of property in the hemitrichs, by tapering them, produced morphing deformations that were distributed over long distances along the length of the ray. These new insights on the interplay between material architecture and properties in nonlinear regimes of deformation can improve the designs of morphing structures that combine high morphing efficiency and high stiffness from external forces, with potential applications in aerospace or robotics.

Optimization of magnetoactive polymer membranes using radial magnetization

Magnetoactive polymer membranes (MAPMs) are manufactured by synthesizing magnetic powders and silicon. Owing to the unique combination of their magnetic and elastic properties, MAPMs have attracted considerable interest as actuators for applications such as soft robotics and medical drug pumps. However, the real-world applications of MAPMs are limited by complicated magnetization processes and their inability to generate large actuation forces. Herein, we propose a radially magnetized MAPM and a magnetization process that eliminates repetitive folding, resulting in elaborate and uniformly magnetized MAPMs without any additional processes. We optimized the membrane thickness and concentration of the magnetic particles by considering the trade-off between actuation performance and controllability. Moreover, we optimized the membrane thickness and concentration of the magnetic powders by analyzing their actuation performance using custom-made pump system. We also quantified the performance of the pump by evaluating its flow rate and precision. Our results show that the maximum outlet pressure of radially-magnetized MAPMs was higher than those of MAPMs manufactured using conventional vertical magnetization by more than 5.5 times. Overall, this study presents a promising candidate for driving miniaturized pump systems and demonstrates the potential of MAPMs as versatile actuators.

Modeling and vibration control of a rotating flexible plate actuated by MFC

The macro fiber composite (MFC) is a novel piezoelectric intelligent material, which is widely used in the field of vibration control due to its flexibility and larger actuation forces than PZT. In this paper, a laminated plate model considering the anisotropy of MFC is developed and applied to the vibration control of a rotating plate. The laminated plate is defined as a layerwise model, which deformation is described by the Absolute Nodal Coordinate Formulation (ANCF). The MFC laminated plate element contains 48 degrees of freedom (DOFs) where the effect of MFC element can be internally incorporated without increasing the DOFs of system. Simultaneously, a neural network PD control is adopted to control the vibration of the rotating plate. Eventually, static, dynamic, and modal analyses are performed to investigate the effects of different parameters. Several vibration simulations are carried out to illustrate the ability of MFC patches on vibration control. The findings in this article would be applied to mechanical prediction and control for rotor blades of helicopters, solar panels, etc.

Design guidelines for the morphing of stiff lattice materials

Materials and structures with shape morphing capabilities are attractive in aerospace, maritime vehicles and robotics: such systems offer lighter weight, better distributed stresses, simpler kinematics, smaller numbers of actuators and higher reliability. Current morphing materials are either very compliant to achieve large shape changes (metamaterials, compliant mechanisms, hydrogels), or very stiff but with infinitesimal shape changes that require large actuation forces (metallic or composite sandwich panels with piezoelectric actuation). Morphing efficiency and structural stiffness are therefore mutually exclusive properties in current engineering morphing materials, which limit the range of their application. Here we propose a design for a stiff morphing beam made of “meta-elements” with unusual combinations of elastic properties, and which can be actuated from a simple push/pull at the base. To capture the performance of the beam we propose and use three metrics: The “morphing amplitude”, the “morphing compliance” and “structural stiffness”. We develop nonlinear finite elements to explore a wide range of designs, and to show some inevitable tradeoffs of stiffness and morphing. To aid the design of the structure we propose ternary diagrams to select optimum combinations of properties for the meta-elements. Finally, we fabricated and tested three prototypes of stiff morphing beams to validate the approach.

Active Vibration Control of Flexible Structures with Super-Coiled Actuators

Flexible structures show low natural frequencies and light damping and often suffer from various dynamic loads, leading to low-frequency vibrations. Active vibration control is necessary for precision operation and long-term service of such structures, and a flexible actuator with a large actuation force and stroke is a key limitation. In this paper, super-coiled (SC) actuators, fabricated from fibers by twisting and inserting, were introduced to actively suppress the low-frequency vibration of flexible structures. Two SC actuators were symmetrically mounted on both surfaces of a cantilever beam to generate actuation forces. The force model of thermally driven SC actuators was developed, and a dynamic model of a cantilever beam with SC actuators was then proposed and validated via experimental actuation. Three types of control strategies, open loop, velocity negative feedback, and linear quadratic regulator (LQR), were adopted for vibration suppression. The results show that the proposed model fits quite well with the experimental data, and the maximum error between the experiment and the prediction is 3.90% among various driven currents. In velocity negative feedback control and LQR control, a 91.83% reduction of dynamic response is achieved, which validates the feasibility of using the actuator for low-frequency vibration control.

Application of Modeling and Control Approaches of Piezoelectric Actuators: A Review

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.

3D-Printed Bio-Inspired Mechanisms for Bird-like Morphing Drones

Birds have unique flight characteristics unrivaled by even the most advanced drones due in part to their lightweight morphable wings and tail. Advancements in 3D-printing, servomotors, and composite materials are enabling more innovative airplane designs inspired by avian flight that could lead to optimized flight characteristics compared to traditional designs. Morphing technology aims to improve the aerodynamic and power efficiencies of aircraft by eliminating traditional control surfaces and implementing wings with significant shape-changing ability. This work proposes designs of 3D-printed, bio-inspired, non-flapping, morphing wing and tail mechanisms for unmanned aerial vehicles. The proposed wing design features a corrugated flexible 3D-printed structure to facilitate sweep morphing with expansion and contraction of the attached artificial feathers. The proposed tail feather expansion mechanism features a 3D-printed flexible structure with circumferential corrugation. The various available 3D-printing materials and the capability to print geometrically complex components have enabled the realization of the proposed morphing deformations without demanding relatively large actuation forces. Proof-of-concept models were manufactured and tested to demonstrate the effectiveness of the selected materials and actuators in achieving the desired morphing deformations that resemble those of seagulls.

Analytical modeling of a magnetoactive elastomer unimorph

Magnetoactive elastomers (MAEs) are capable of large deformation, shape programming, and moderately large actuation forces when driven by an external magnetic field. These capabilities enable applications such as soft grippers, biomedical devices, and actuators. To facilitate complex shape deformation and enhanced range of motion, a unimorph can be designed with varying geometries, behave spatially varying multi-material properties, and be actuated with a non-uniform external magnetic field. To predict actuation performance under these complex conditions, an analytical model of a segmented MAE unimorph is developed based on beam theory with large deformation. The effect of the spatially-varying magnetic field is approximated using a segment-wise effective torque. The model accommodates spatially varying concentrations of magnetic particles and differentiates between the actuation mechanisms of hard and soft magnetic particles by accommodating different assumptions concerning the magnitude and direction of induced magnetization under a magnetic field. To validate the accuracy of the model predictions, four case studies are considered with various magnetic particles and matrix materials. Actuation performance is measured experimentally to validate the model for the case studies. The results show good agreement between experimental measurements and model predictions. A further parametric study is conducted to investigate the effects of the magnetic properties of particles and external magnetic fields on the free deflection. In addition, complex shape programming of the unimorph actuator is demonstrated by locally altering the geometric and material properties.

Braided Liquid Crystal Elastomer Fiber Actuator with Programmable Deformation for Artificial Muscles

AbstractLiquid crystal elastomer fibers (LCEFs) are promising materials for constructing artificial muscles. However, the practical applications in smart wearable textiles and soft robots are still hindered due to their weak tensile performance and complex actuation integration. In this work, an LCEFs braided actuator is fabricated in which several LCEFs are integrated with silver‐plated nylon strands using the textile braiding method. The silver‐plated nylon strands can generate joule heat for triggering LCEFs and meanwhile strengthen the braided actuators. Owing to the braided structure, this LCEFs braided actuator exhibits large reversible contraction (34%) and actuation force (18.7 cN) with electrical stimulation at 0.6 V cm−1. An artificial arm and a soft pump based on the LCEFs braided actuators is successfully developed. The LCEFs braided actuator can lift 205 times its weight as an artificial biceps. And the soft pump can achieve cyclic contraction and relaxation motions similar to the cardiac muscle under electrical stimulation and reach an output flow rate of 111 µL s−1. This braided integration concept would broaden the potential applications of LCEFs.

Magnetically actuated gearbox for the wireless control of millimeter-scale robots.

The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.

Fracture Toughness and Blocking Force of Temperature-Sensitive PolyNIPAAm and Alginate Hybrid Gels.

In the field of actuator materials, hydrogels that undergo large volume changes in response to external stimuli have been developed for a variety of promising applications. However, most conventional hydrogels are brittle and therefore rupture when they are stretched to moderate strains (~50%). Thus, gels to be used for actuators still require improved mechanical properties and actuation performance. In this study, we synthesized a tough and thermo-sensitive hydrogel with a large actuation force by forming interpenetrating networks between covalently crosslinked poly(N-isopropylacrylamide) and ionically crosslinked alginate. Poly(N-isopropylacrylamide) was used as a thermo-sensitive actuation material, and alginate was found to enhance the mechanical properties of the hydrogels. Due to the enhanced elastic modulus and energy dissipation in the hybrid gel, the toughness was increased by a factor of 60 over that of pure PNIPAAm gel. Further, based on the results showing that the hybrid gel exhibits an actuation force that is seven times higher than that of pure PNIPAAm gel, the hybrid gel is more applicable to real actuators.

Experimental analysis of fiber-reinforced laminated composite plates with embedded SMA wire actuators

Shape memory alloy (SMA) wires are effective smart actuators since they provide relatively large actuation force and strain in a very limited space. Embedding SMA wires in flexible laminated composite plates or shells allows for creating active structures for morphing applications. However, the design of such structures is challenging due to the nonlinear thermomechanical coupling of SMA materials, the adhesion of the SMA actuators to the resin, the effect of temperature on the adhesion strength, the heat transfer between the SMA wires and the surrounding laminate, and the convection boundary conditions. This paper presents an experimental analysis of smart fiber-reinforced composite laminated plates with embedded SMA wires, focusing on the relationship between the applied electric current, measured temperature of the SMA wires, and the resulting tip deflection. A temperature-based control method was developed to achieve the required wire temperature and tip deflection as quickly as possible. Results showed that the fiber-orientation angle of the composite plies and the convection boundary conditions have significant effects on the structure’s actuation. With cyclic actuation, damage starts around the heated SMA wires and can grow to cause delamination at areas between neighboring SMA wires and yielding of the matrix material, resulting in permanent deformation.

Kinestatic Modeling of a Spatial Screw-Driven Continuum Robot

Continuum robots offer many advantages for use in miniature diagnostic and interventional surgical devices. However, the creation of snake-like devices with extremely high slenderness ratios, those with great length and small diameter, remains challenging from a device design perspective. To facilitate improved slenderness ratios, high total accumulated bending angles, and high stiffness and mechanical stability of the active section, we propose the use of a flexible screw-driven mechanism to generate large distal actuation forces while still locating motors and other bulky system components at the base of the device. In comparison to tendon-based designs and push-pull rods, the design avoids the capstan-like buildup of friction. In this work, we present design, fabrication, kinestatic modeling, and experimental validation for a two-degree-of freedom, screw-based, multi-backbone continuum robot. The model that compensates the friction in the system most accurately predicts the behavior of the robot and eliminates most of the hysteresis in the input-output behavior.

Electro-Thermally Actuated Non-Volatile Mechanical Memory With CMOS-Level Operation Voltage and Low Contact Resistance

A non-volatile mechanical memory device with CMOS-level operation voltage and low contact resistance is proposed utilizing electro-thermal actuation method for the first time. Unlike the most widely used electrostatic actuation method in microelectromechanical systems (MEMS) devices, electro-thermal actuation is known to produce large actuation force and displacement with low operation voltage, which are preferable attributes of a mechanical memory. In addition, stiction, one of the most notable failure mechanisms of MEMS devices referring to the inadvertent permanent adhesion between two surfaces, can be exploited to significantly improve the energy efficiency of mechanical memory by retaining the ON-state without power. We devised a non-volatile mechanical memory device capable of performing multiple cycles of write and erase operations with CMOS-level voltage by utilizing electro-thermal actuation and stiction. The fabricated electro-thermally actuated mechanical memory successfully performed 200 repeated cycles of write and erase operations at 0.9V and 1.0V, respectively. Thanks to the high contact force generated by electro-thermal actuation, the fabricated device achieved the contact resistance of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$17 \boldsymbol {\Omega }$ </tex-math></inline-formula> . Lastly, we confirmed that the fabricated device successfully retained both ON and OFF states upon removal of power beyond 10 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">6</sup> seconds. [2021-0178]

Janus Photochemical/Photothermal Azobenzene Inverse Opal Actuator with Shape Self-Recovery toward Sophisticated Motion.

Azobenzene actuators have aroused enormous research interest due to their excellent performance and promising applications in the fields of soft robots, artificial muscles, etc. However, there are still challenges for the fabrication of azobenzene actuators with a sophisticated actuation mode owing to the unitary actuation direction and slow thermal relaxation of cis- to trans-azobenzene mesogens. To solve these problems, this paper presents a facile fabrication method of a Janus azobenzene inverse opal actuator with one side made of the monodomain azobenzene polymer and the other side made of the polydomain azobenzene inverse opal structure. Gradient-layer spacing structure of the film in its cross section is proven by synchrotron small-angle X-ray diffraction. The introduction of the inverse opal structure mainly provides a polydomain mesogen alignment, large specific surface area, low elastic modulus, and structure color. The synergetic actuation of the photochemical/photothermal mode produces multiple actuation directions, a larger actuation force, and an alteration of the structure color. Shape self-recovery of this Janus azobenzene actuator contributes to some promising applications, such as crawling on a smooth surface, driving an engine axis, and logic electric circuit for the coding technique. This work is of great significance for the design and fabrication of novel-type photoactuators.

Design, Fabrication, and Characterization of a Micro Coriolis Mass Flow Sensor Driven by PZT Thin Film Actuators

A micro Coriolis flow sensor accurately measures small mass flows without being affected by properties of the fluid. This paper presents a micro Coriolis mass flow sensor driven by PZT thin film piezoelectric actuators, which allows a combination of large actuation force, low power dissipation and virtually no self-heating. The sensor was fabricated using surface channel technology, resulting in a tube diameter of 40 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mu \text{m}$ </tex-math></inline-formula> and a thin silicon-rich silicon nitride tube wall of 1.2 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mu \text{m}$ </tex-math></inline-formula> thick, with a few additional steps to form the integrated piezoelectric actuators. The integrated actuators can actuate the sensor into both swing mode and twist mode. Both actuation modes were evaluated for different fluids and the results are presented in this paper. In the case of swing mode actuation, an optical readout was used to detect the resulting Coriolis movement, resulting in a relatively low sensitivity. In the case of twist mode actuation, a capacitive readout was used and, in comparison to previously published devices, a high mass flow sensitivity was achieved thanks to an optimized readout design. The measurement results show the read-out noise has a standard deviation of 0.15% of the full scale of 1.8 gh <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">−1</sup> when actuated in the twist mode. [2020-0392]

Low-Voltage and High-Reliability RF MEMS Switch with Combined Electrothermal and Electrostatic Actuation.

In this paper, we report a novel laterally actuated Radio Frequency (RF) Microelectromechanical Systems (MEMS) switch, which is based on a combination of electrothermal actuation and electrostatic latching hold. The switch takes the advantages of both actuation mechanisms: large actuation force, low actuation voltage, and high reliability of the thermal actuation for initial movement; and low power consumption of the electrostatic actuation for holding the switch in position in ON state. The switch with an initial switch gap of 7 µm has an electrothermal actuation voltage of 7 V and an electrostatic holding voltage of 21 V. The switch achieves superior RF performances: the measured insertion loss is −0.73 dB at 6 GHz, whereas the isolation is −46 dB at 6 GHz. In addition, the switch shows high reliability and power handling capability: the switch can operate up to 10 million cycles without failure with 1 W power applied to its signal line.

Recent Progress on Electroactive Polymers: Synthesis, Properties and Applications

Electroactive polymers (EAPs) are an advanced family of polymers that change their shape through electric stimulation and have been a point of interest since their inception. This unique functionality has helped EAPs to contribute to versatile fields, such as electrical, biomedical, and robotics, to name a few. Ionic EAPs have a significant advantage over electronic EAPs. For example, Ionic EAPs require a lower voltage to activate than electronic EAPs. On the other hand, electronic EAPs could generate a relatively larger actuation force. Therefore, efforts have been focused on improving both kinds to achieve superior properties. In this review, the synthesis routes of different EAP-based actuators and their properties are discussed. Moreover, their mechanical interactions have been investigated from a tribological perspective as all these EAPs undergo surface interactions. Such interactions could reduce their useful life and need significant research attention for enhancing their life. Recent advancements and numerous applications of EAPs in various sectors are also discussed in this review.

Analytical modeling and simulation of a multifunctional segmented lithium ion battery unimorph actuator

Lithium-ion batteries (LIBs) are able to achieve large deformation and high actuation force when using a unimorph configuration and a silicon composite anode. Distribution of charge to different segments allows for shape change with only small parasitic losses due to internal resistance. A unique attribute of LIB actuators are their ability to maintain actuation shape. The actuation mechanism also requires no power to be consumed to maintain the deformed shape. Segmenting the unimorph improves the customizability and allows for spatial variation of the unimorph parameters. Spatially varying the charge and thickness of the unimorph along the length improves the range of motion and complex shapes achievable by this design. Spatially varying the thickness of the unimorph specifically allows for improved blocked force and actuation force per volume. An analytical model is developed to predict several key actuator metrics. Free deflection is found for a variety of example cases. Blocked deflection and blocked force are also found using a novel modified equivalent end moment method. Actuation force is found using a combination of both the free deflection and blocked force equations herein developed. Euler–Bernoulli beam theory is used, including the effects of beam segmentation and curvature shortening. This model and a commercial finite element analysis simulation are compared and experimentally verified.