Linear Actuator Research Articles

Application of the Water-Based Electro-Hydraulic Actuator (EHA) to the Heavy-Duty Collaborative Robot

In this paper, the design of a driving mechanism for a heavy-duty collaborative robot (cobot) capable of lifting payloads up to 20 kg is presented. This study focuses on an articulated robot utilizing a water-based Electro-Hydraulic Actuator (EHA). The Denavit–Hartenberg (D–H) representation was employed to relate the rotational angles and the end-effector’s location, facilitating the design of the actuators. The maximum required torques for joints 2 and 3, responsible for lifting for 12 s, were calculated under quasi-static and dynamic loading conditions. The results showed that the maximum required torques were 126.67 Nm and 58.86 Nm for joint 2 and 3, respectively. The maximum torque for joint 2 occurs when the pitch links are fully extended, whereas the maximum torque for joint 3 occurs when the third link is parallel to the ground. The torques, due to the inertia and Coriolis dynamic terms, were also calculated and found to be lower than those required for the gravitational term. Various maneuvering scenarios, along with Ansys Motion simulation, were analyzed for the verification of the results. Based on the calculated maximum torques, the linear actuators of the EHA were designed. The heavy-duty cobot can be built with the developed actuator proposed in this paper. The total weight of the entire frame was measured to be 14.59 kg, resulting in a high Payload/Weight (P/W) ratio of 1.37. In conclusion, the robot was made lighter and can operate more efficiently, particularly for heavy loads up to 20 kg.

An actuator space optimal kinematic path tracking framework for tendon-driven continuum robots: Theory, algorithm and validation

Path tracking of continuum robots is a fundamental and crucial problem across various applications. In this article, we address this problem by focussing on three aspects. Firstly, we propose an efficient multi-solution inverse kinematics solver for three-section constant curvature robots by bridging the theoretical reduction and the numerical correction. Secondly, we derive a linear tendon-driven actuation model, establishing the connection between the robot configuration space and the actuator space. With this model, we achieve optimal distance planning and optimal time allocation considering the constraints of actuator velocity and acceleration, generating a continuous trajectory directly in the actuator space. Finally, we present our kinematic path tracking framework, which includes offline optimal trajectory planning and online feedforward and feedback control. Experiments are conducted both in simulations and in the real world on our three-section tendon-driven continuum robot. The experiments validate the increased efficiency, higher success rates, and accessibility of multiple solutions offered by our inverse kinematics solver, as well as the optimality in distance planning and time allocation in the actuator space. Performance improvements in tracking accuracy are demonstrated through comparative experiments and the application of our framework in path tracking tasks with obstacles is presented through a case study.

Dynamic modelling and mechanical analysis of an inertial linear piezoelectric actuator with double stators

Abstract To achieve higher output performance in precision applications, and in order to gain deeper insight into operation principle, a dynamic model is established including the transmission relationship between the stators, the driving shaft, and the mover based on a slip-slip type inertial linear piezoelectric actuator with double stators. The influence of stator material and symmetry ratio of the excitation signal on the vibration characteristics of the stator and the output performance are investigated. This study reveals the relationship between these factors through a combination of simulations and experiments. Prototypes using several materials are machined and assembled, and the vibration characteristics and output performance are rigorously tested. The results obtained from the experimental measurements are consistent with the simulation results, confirming the validity and rationality of the dynamic model. The experimental results of the stator, as well as the actuator, are analyzed. It can be concluded that the actuator is able to output a larger effective displacement in one motion period with the increased symmetry ratio of the triangular wave signal, applied with a higher operating frequency, resulting in a higher output velocity of 42 mm/s and a larger load of 300 g with the steel stator, and a higher displacement resolution of 18 nm can be achieved using the AL alloy stator. This research not only provides an effective method for enhancing and selecting the desired output performance for the researched actuator but also can be extended to other slip-slip type inertial linear piezoelectric actuators.

Design and Performance Analysis of A Linear Switched Reluctance Motor Considering End Effects

Introduction: In recent years, linear actuators have gained significant attention due to their ability to provide direct linear movement without the need for motion transformation devices. One significant challenge in the design and modeling of linear actuators is the occurrence of longitudinal end-effects. The finite length of the translator stack in linear actuators causes an unbalanced phase force, leading to discrepancies between the phases at the end and center of the actuator. Neglecting these end-effects can lead to inaccuracies in the actuator's performance and control. Methods: The objective of this study is to develop a comprehensive approach for the design, sizing, and modeling of the actuator to ensure optimal performance. An energy conversion procedure calculates the thrust force and determines the actuator's geometrical parameters. A numerical model based on the finite element method is developed to analyze the actuator's magnetic behavior and establish its characteristics. Furthermore, a thorough analysis of the end effect is conducted using two-dimensional finite element analysis. Results: To accurately capture the actuator's dynamic response and enable precise control, a mathematical model is formulated, incorporating the nonlinear behavior of inductance and incorporating the end effect factor. The proposed model demonstrates high accuracy and provides a solid foundation for the control of the linear switched reluctance actuator. Conclusion: Overall, this study contributes to the advancement of direct drive systems for industrial applications by providing a detailed design procedure and an accurate modeling approach for the linear actuator, enabling more efficient and precise control strategies.

Impact of annular nanosecond plasma actuators on drag reduction in transonic flow

During the last few decades, plasma actuators have emerged as promising devices for aerodynamic flow control. This study focuses on the use of nanosecond plasma actuators for such purposes. A thermal phenomenological model is employed to simulate the effects of these actuators. The propagation of shock waves and their interactions for two specific geometries of plasma actuators, linear and annular plasma synthetic jet actuators, are examined here. A comparative analysis of the performance of these two configurations is presented. Furthermore, the geometric characteristics and temperature model are analyzed to provide insights that can be applied to practical problems. The influence of the actuators on a projectile in the transonic flow is also investigated. The results of the present study show that actuators placed in the conical and cylindrical regions of the object do not contribute to drag reduction. Conversely, actuators positioned at the boat-tail and base of the object effectively reduce drag. This drag reduction is primarily attributed to thermal disturbances in the separation area. Additionally, it is observed that the effects of shock waves and their interaction with stationary waves around the projectile are negligible in terms of drag force reduction.

Bridging piezoelectric and electrostatic effects: a novel piezo-MEMS pitch/roll gyroscope with sub 10°/h bias instability

This paper proposes a novel piezo-MEMS pitch/roll gyroscope that co-integrates piezoelectric and electrostatic effects, for the first time achieves electrostatic mode-matching operation for piezoelectric gyroscopes. Movement of operated out-of-plane (OOP) mode (n = 3) and in-plane (IP) mode (n = 2) are orthogonal, ensuring that the OOP amplitude is not significantly limited by parallel plates set at nodes of IP mode. Therefore, a large OOP driving amplitude actuated by piezoelectric and frequency tuning in the IP sense mode trimmed by electrostatic can be achieved together with a low risk of pull-in, hence releases the trade-off between the tuning range and the linear actuation range. At a tuning voltage of 66 V, the frequency split decreased from 171 Hz to 0.1 Hz, resulting in a 167x times improvement in sensitivity. The mode-matched gyroscope exhibits an angle random walk (ARW) of 0.41°/√h and a bias instability (BI) of 8.85°/h on a test board within a customized vacuum chamber, marking enhancements of 68x and 301x, respectively, compared to its performance under mode-mismatch conditions. The BI performance of the presented pitch/roll gyroscope is comparable to that of the highest-performing mechanically trimmed piezo-MEMS yaw gyroscopes known to date, while offering the unique advantage of lower cost, better mode-matching resolution, and the flexibility of real-time frequency control.

Design and Optimization of a Custom-Made Six-Bar Exoskeleton for Pulp Pinch Grasp Rehabilitation in Stroke Patients.

Stroke often causes neuromotor disabilities, impacting index finger function in daily activities. Due to the role of repetitive, even passive, finger movements in neuromuscular re-education and spasticity control, this study aims to design a rehabilitation exoskeleton based on the pulp pinch movement. The exoskeleton uses an underactuated RML topology with a single degree of mobility, customized from 3D scans of the patient's hand. It consists of eight links, incorporating two consecutive four-bar mechanisms and the third inversion of a crank-slider. A two-stage genetic optimization was applied, first to the location of the intermediate joint between the two four-bar mechanisms and later to the remaining dimensions. A targeted genetic optimization process monitored two quality metrics: average mechanical advantage from extension to flexion, and its variability. By analyzing the relationship between these metrics and key parameters at different synthesis stages, the population evaluated is reduced by up to 96.2%, compared to previous studies for the same problem. This custom-fit exoskeleton uses a small linear actuator to deliver a stable 12.45 N force to the fingertip with near-constant mechanical advantage during flexion. It enables repetitive pulp pinch movements in a flaccid finger, improving rehabilitation consistency and facilitating home-based therapy.

Scalable, compact and easy-to-control linear electromagnetic actuator

Scalable, compact and easy-to-control linear electromagnetic actuator

Design and performance evaluation of a stick–slip actuator with Z-shaped beam and two-stage amplification system

Abstract In the domain of piezoelectric driving, actuators that utilize the stick–slip effect at high speeds and low frequency have garnered significant interest. This study presents an innovative linear piezoelectric actuator that integrates a two-stage amplification system with a Z-shaped beam mechanism. The designed actuator has good driving speed at low frequency while overcoming the disadvantage of such actuators requiring two flexible mechanisms to achieve reverse motion and poor reverse performance. The structure and scale of the actuator are explained and designed through theory and simulation. The experimental results demonstrate the prototype’s capability for bidirectional motion. Subjected to a 400 Hz and 140 V excitation, the maximum speed of the actuator is 12.88 mm s−1. The maximum load capacity is tested to be of 0.35 N. This research introduces a new approach for the design of high-speed bidirectional motion stick–slip piezoelectric actuators.

High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction

High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction

Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial–parallel floating-base systems

This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with unique serial–parallel hybrid chains, which allow for the positioning of all the leg actuators near the base of the robot to improve the overall mass distribution. To model and analyze such complex nonlinear mechanisms, we employ a constrained formulation that is extended to account for floating-base systems in contact with the environment. A comparison is made to demonstrate the significant improvements achieved with TALOS, another humanoid bipedal robot designed by PAL Robotics, in terms of equivalent Cartesian inertia at the feet and centroidal angular momentum. Finally, the paper includes numerical experiments conducted through simulation and preliminary tests performed on the actual Kangaroo platform.

In-field performance evaluation of robotic arm developed for harvesting cotton bolls

Robotic harvesting of cotton bolls combines the advantages of manual picking and mechanical harvesting, including selective picking and reduced labor dependency. Thus, we designed, developed, and tested a cotton-picking robotic arm equipped with a depth camera, a 4-DoF manipulator, and a vacuum-type end-effector. Convolutional neural networks were implemented for cotton boll recognition, while an artificial neural network-assisted particle swarm optimization-based model was utilized for solving inverse kinematics. Linear actuators, controlled by a microcontroller and relays, positioned the end-effector for cotton boll harvesting. Laboratory testing resulted in picking 44–49 cotton bolls per hour, taking approximately 73.0 s per boll. During field testing, the robotic arm picked 40–42 bolls per hour with an average time of 86.0 s per boll. Picking efficiency ranged from 76.19% to 85.71% in the lab and 66.32% to 72.04% in the field. The complex structure of cotton plants sometimes hindered the end-effector’s path, resulting in lower picking efficiency during field testing. As observed in present study, manual pickers achieved a significantly higher picking rate, harvesting 1.381 kg of cotton per hour, nearly 4.7 times more than the robotic arm. Manual pickers achieved 98.04% picking efficiency, significantly higher than the robotic arm’s 68.25%. This significant difference in efficiency is due to the agility, adaptability, and decision-making abilities of human pickers. The developed robotic arm demonstrates competitive efficiency in the domain of harvesting robots, contributing to advancements in robotic agriculture. Future research and development efforts in this field hold the potential to enhance the efficiency and productivity of robotic cotton harvesters.

Pressing Mechanism Design and Performance Analysis for Brake Pedal System at Low-Speed Driving

This article focuses on the modelling and analysis of an automatic braking mechanism for low-speed driving scenarios. The study aims to replicate the force exerted by a driver on the brake and accelerator pedals by strategically placing the suitable actuator within the pedal subsystem assembly. The primary objective is to model the pedal pressing mechanism for the braking subsystem and gain insights into driver ‘s behaviour during traffic congestion, thereby ensuring the effective operation of the automatic braking system. The actuator was modelled using 3D virtual environment, while the car body or dynamics was modelled using SimScape in MATLAB environment, and the simulation performance analysis was employed to evaluate the performance outcomes. It has shown that the mechanism designed mimics the actual manual pedal pressing mechanism of driver’s leg where the results show that the actuator managed to produce 150 N to reach speed at 8.5 km/h at 48 mm linear actuator stroke. Therefore, the research findings are anticipated to contribute significantly to the advancement of automatic braking systems, particularly during low speed in road traffic delay, which may help in reducing the fatigue among drivers, enhancing vehicle safety, and providing valuable insights for the development of more reliable and efficient systems within the automotive industry.

A Study on the Usefulness of Effective Stiffness for Robust Design of Unified Linear Actuators

A Study on the Usefulness of Effective Stiffness for Robust Design of Unified Linear Actuators

Synchronous Cation-Driven and Anion-Driven Polypyrrole-Based Yarns toward In-Air Linear Actuators.

Conducting polymers (CP) have shown great features in building textile actuators. To date, most of the yarn-based or CP-yarn actuators have been operated in liquid electrolytes in a three-electrode-cell configuration, comprising an external counter and a reference electrode. For integration in textiles, a two-electrode system is needed, where both electrodes are in a yarn format. This can be achieved by having two CP-yarns, where one acts as the anode and the other as the cathode. For these two CP-yarns to operate synchronically, they both need to expand (or contract) during opposite reactions. This can be achieved by doping one CP-yarn with mobile anions that will expand during oxidation, while the other CP-yarn should be doped with immobile anions expanding during reduction. As a result, the same movement is created upon opposite redox reactions, both collaborating with the actuation in the same direction without the need for an external passive electrode to close the electrical circuit, which could oppose or hinder the movement. Most of the studies on textile actuators are based on cation-driven CP-yarn actuators, while little is known about anion-driven systems in CP-yarn actuators. Here, we first present a study of the effect of the dopants, solvents, and polymer layer combinations on the mechanism and strain of CP-yarns. The CP-yarns are coated with two layers: an inner poly(3,4-ethylenedioxythiophene) (PEDOT) layer and the outer and active polypyrrole (PPy) layer. According to our results, the dopant of the inner PEDOT layer seems to affect the actuation mechanism of the outer PPy layer and, thereby, of the whole CP-yarn actuator, influencing the direction of the movement and enhancing or hindering the total strain of the actuator. We show that a CP-yarn coated with PEDOT(Tos)/PPy(ClO4) and actuated in LiClO4 aqueous solution showed a pure anion-driven actuation. Next, based on the latter results, we demonstrate for the first time the dual actuation of two CP-yarns, doped with two different dopants, ClO4 - and DBS-, actuating simultaneously driven by opposite redox reactions and exhibiting an average of 0.5% of strain, an important step toward in-air actuating yarns.

Design and validation of an In Vitro test bench for the investigation of cardiopulmonary resuscitation procedure

Despite recent clinical and technological advancements, the cardiac arrest survival rate remains as low as 10%. To enhance patient outcomes, it is crucial to deepen the understanding of cardiopulmonary resuscitation (CPR) at a fundamental level. Currently, there is a lack of knowledge on the physiological effects of CPR, in particular on the hemodynamics in the heart and the great vessels. The design and validation of a dedicated in vitro heart simulator, capable of replicating the physiological response to CPR, holds the potential to provide valuable insights into the fluid dynamics in the heart during CPR but also to be used as a platform for the development and testing of mechanical CPR machines. The main objective of this study is to design and validate the first in vitro heart simulator that can replicate the physiological response during CPR. For that, a custom-made heart simulator is designed consisting of an elastic model of the complete heart and a controllable linear actuator. The heart model is positioned in an anatomical position, and the linear actuator compresses the model at specific rates and depths. Flow and pressure waveforms are recorded on the newly developed simulator at 60 contractions per minute and results are validated against reported in vivo data in the literature. Finally, the system’s capabilities are evaluated by considering several combinations of compression rates and depths.

A Pneumatic Flexible Linear Actuator Inspired by Snake Swallowing.

Soft robots spark a revolution in human-machine interaction. However, developing high-performance soft actuators remains challenging due to trade-offs among output force, driving distance, control precision, safety, and compliance. Here, addressing the lack of long-distance, high-precision flexible linear actuators, an innovative pneumatic flexible linear actuator (PFLA) is introduced, inspired by the smooth and controlled process observed in snakes ingesting sizable food, such as eggs. This PFLA combines a soft tube, emulating the snake's body cavity, with a pneumatically driven piston. Through the joint modulation of moving resistance and driving force by pneumatic pressure, the PFLA exhibits exceptional motion control capabilities, including self-holding without pressure supply, smooth low-speed motion (down to 0.004 m s-1), high-speed motion (up to 5.6 m s-1) with low air pressure demand, and a self-protection mechanism. Highlighting its adaptability and versatility, the PFLA finds applications in various settings, including a wearable assistive devices, a manipulator capable of precise path tracking and positioning, and rapid transportation in diverse environments for pipeline inspection and firefighting. This PFLA combines biomimetic principles with sophisticated fluidic actuation to achieve long-distance, flexible, precise, and safe actuation, offering a more adaptive solution for force/motion transmission, particularly in challengingenvironments.

Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

Abstract This article reports the design, modeling, and experiments of a novel retinal surgery robot based on spatial variable remote center-of-motion (RCM) mechanism. The general design criteria for parallel mechanisms are proposed, and the planar five-bar mechanisms are evaluated and selected. The planar-spatial evolution process, including the parallel connection of the planar mechanism and the equivalent substitution of joints, is adopted to develop a spatial variable RCM mechanism and then the robot. The mobility and singularity of the robot are analyzed, and the forward/inverse kinematics and workspace are modeled. Dimension optimization is conducted based on a comprehensive performance indicator that characterizes the motion range of linear actuators and the global dexterity performance index of robot. The prototyped robot is fabricated and assembled, and the kinematic calibration is performed. The position error of end-effector is within 34 μm, and both the position error and deviation of the RCM point are within 23 μm. The robot is demonstrated to reach the desired position and execute the RCM motion with high precision simultaneously.

Formation of interfaces responsive and adaptive to environment via the sol-gel method

Smart devices, such as soft robots, artificial organs, and soft actuators, require materials that adapt their morphologies and properties in response to their environment. These materials can be obtained through the composition of different types of materials that exhibit different responses to environmental stimuli, arranged in a rational spatial configuration. We achieved unique responsive materials by forming interfaces and surfaces of appropriate materials using the sol–gel method. In recent decades, we have proposed the use of wrinkles and nano-brushes on sol–gel-derived materials for various sophisticated applications, such as micropattern fabrication, wettability control, and linear actuators for size-selective transportation. This account introduces environment-responsive materials with rational interfaces via the sol–gel method, particularly those characterized by surface morphology.Graphical Materials with unique environmental responsiveness such as micropattern fabrication, wettability control, and linear actuating can be achieved by forming interfaces and surfaces using the sol–gel method.

A novel linear piezoelectric inchworm actuator based on a ratchet mechanism

Abstract A new working principle of inchworm actuator, which converts vibrations of a single piezo actuator into unidirectional step movement of a mover via a ratchet mechanism, was proposed. The proposed working principle has the following priorities: (1) it requires only one piezoelectric actuator which greatly simplifies its driving signals and driving circuits; (2) it can achieve a large driving speed with little compromise of a large force output while maintaining a high positioning precision of piezoelectric actuator and a theoretically unlimited motion range, although it can only achieve unidirectional movement with unidirectional self-locking capability; (3) it could be open-loop controlled with no accumulated step errors. The proposed actuator was designed with compliant mechanism and an analytical model of the design was developed, validated by finite element simulations carried out in Commercial Software ANSYS and used to guide the selection of design parameters. A prototype was fabricated and tested. Experiments show that the proposed actuator achieved a speed larger than 12 mm s−1, a driving load larger than 60 N in the moving direction, a reliable open-loop controllability with no step accumulated errors even under driving load variations of 60 N, and a working range larger than 1 mm with a high positioning precision around 320 nm under closed-loop control, which validated the superiorities of the proposed actuator.