Linear Actuator Research Articles

On-load magnetic field calculation for linear permanent-magnet actuators using hybrid 2-D finite-element method and Maxwell–Fourier analysis

PurposeThe purpose of this study is to present a novel extended hybrid analytical method (HAM) that leverages a two-dimensional (2-D) coupling between the semi-analytical Maxwell–Fourier analysis and the finite element method (FEM) in Cartesian coordinates.Design/methodology/approachThe proposed model is applied to flat permanent-magnet linear electrical machines with rotor-dual. The magnetic field solution across the entire machine is established by coupling an exact analytical model (AM), designed for regions with relative magnetic permeability equal to unity, with a FEM in ferromagnetic regions. The coupling between AM and FEM occurs bidirectionally (x, y) along the edges separating teeth regions and their adjacent regions through applied boundary conditions.FindingsThe developed HAM yields accurate results concerning the magnetic flux density distribution, cogging force and induced voltage under various operating conditions, including magnetic or geometric parameters. A comparison with hybrid finite-difference and hybrid reluctance network methods demonstrates very satisfactory agreement with 2-D FEM.Originality/valueThe original contribution of this paper lies in establishing a direct coupling between the semi-analytical Maxwell–Fourier analysis and the FEM, particularly at the interface between adjacent regions with differing magnetic parameters.

Reversible Electrochemical Swelling of Straight Carbon Nanotube Yarns for High-Performance Linear Actuation.

Coiled artificial muscle yarns outperform their straight counterparts in contractile strokes. However, challenges persist in the fabrication complexity and the susceptibility of the coiled yarns to becoming stuck by surrounding objects during contraction and recovery. Additionally, torsional stability remains a concern. In this study, it is reported that straight carbon nanotube (CNT) yarns when driven by a low-voltage electrochemical approach, can achieve a contractile stroke that surpasses even NiTi shape memory alloy fibers. The key lies in the suitable match between a yarn consisting of randomly aligned CNTs and the reversible and substantial electrochemical swelling induced by solvated ions. Wrinkled structures are formed on the surface of the CNT yarn to adapt to the swelling process. This not only assures torsional stability but also enhances the surface area for improved electrode-electrolyte interaction during electrochemical actuation. Remarkably, the CNT artificial muscle yarn generates a contractile stroke of 8.8% and an isometric stress of 7.5 MPa under 2.5 V actuation voltages, demonstrating its potential for applications requiring low energy consumption while maintaining high operational efficiency. This study highlights the crucial impact of CNT orientation on the effectiveness of electrochemically-driven artificial muscles, signaling new possibilities in smart material and biomechanical system development.

Conversion of a Coaxial Rotorcraft to a UAV—Lessons Learned

A coaxial helicopter with a maximum take-off weight of 600 kg was converted to an unmanned aerial vehicle. A minimally invasive robotic actuator system was developed, which can be retrofitted onto the copilot seat of the rotorcraft in a short period of time to enable automatic flight. The automatic flight control robot includes electromechanical actuators, which are connected to the cockpit inceptors and control the helicopter. Most of the sensors and avionic components were integrated into the modular robotic system for faster integration into the rotorcraft. The mechanical design of the control system, the development of the robot control software, and the control system architecture are described in this paper. Furthermore, the multi-body simulation of the robotic system and the estimation of the linear low-order actuator models from hover-frame flight test data are discussed. The developed technologies in this study are not specific to a coaxial helicopter and can be applied to the conversion of any crewed flight vehicle with mechanical controls to unmanned or fly-by-wire. This agile development of a full-size flying test-bed can accelerate the testing of advanced flight control laws, as well as advanced air mobility-related functions.

A scaling law approach to rate fabrication tolerances of double-sided electrostatic actuators

Abstract Symmetric double-sided electrostatic actuators in push-pull configuration are particularly suitable for linear actuation with low harmonic distortion. However, their motion still is largely determined by pull-in instabilities that are sensitive to geometry variations. A considerable simulation effort is therefore required when assessing manufacturing tolerances during the design process or determining the optimal operating point. Recently, an accurate method was demonstrated, allowing for the numerically inexpensive and experimentally non-destructive extraction of the full quasi-static performance of a clamped-free beam-like electrostatic micro-mechanical actuator with complex 3D design. The key step was to determine the voltage scaling related to the pull-in voltage based on data collected far away from pull-in conditions. This relates a dimensionless ansatz to the physical input voltages as well as the output like e.g. the actuator’s tip deflection. For the chosen approach, however, the relationship between the model and the geometry parameters is unknown. In this paper we propose a method to enable quantifying the impact of geometry parameter variations. In particular, we adapt the model equation for the case of symmetry-breaking tolerances on the basis of few FEM-simulations. The quasi-static pull-in instability, as well as the nonlinear deflection, are consistently reproduced over the full range of relevant combinations of signal and bias voltages. Our analysis was developed in the context of a specific electro-acoustic transducer. However, we find indications that the underlying method is in fact applicable to a much broader range of micro-mechanical actuators.

Linear Actuators Based on Polyvinyl Alcohol/Lithium Chloride Hydrogels Activated by Low AC Voltage

Linear Actuators Based on Polyvinyl Alcohol/Lithium Chloride Hydrogels Activated by Low AC Voltage

DETERMINATION OF LOAD CHARACTERISTICS OF A LINEAR ELECTROMECHANICAL ENERGY CONVERTER FOR THE TILT SYSTEM OF RAILWAY ROLLING STOCK

The article discusses the prerequisites for selecting the parameters of a Linear Electromechanical Energy Converter (LEEC) for the tilt system of railway rolling stock. Special attention is given to determining the required force to tilt the body to a specified angle and the load characteristics of the LEEC. To achieve this goal, a simulation model has been created that allows for the variation of geometric and physical parameters to obtain load characteristics for different configurations of the tilt mechanism. The obtained load characteristics are used to find the optimal placement of linear actuators in the tilt system.

Hand Teleoperation with Combined Kinaesthetic and Tactile Feedback: A Full Upper Limb Exoskeleton Interface Enhanced by Tactile Linear Actuators

Hand Teleoperation with Combined Kinaesthetic and Tactile Feedback: A Full Upper Limb Exoskeleton Interface Enhanced by Tactile Linear Actuators

Hybrid dynamical modeling of shape memory alloy actuators with phase kinetic equations

Shape memory alloy morphing actuators are a type of composite soft actuator with many attractive properties such as large deformation, small form factor, self-sensing ability, and physical reservoir computing potential. These actuators are composed of active shape memory alloy wires and a passive material to magnify the overall deflection. However, the dynamic modeling of these actuators is difficult due to both shape memory alloy characteristics and the nonlinearity of the passive layer. Here, a hybrid dynamical model is proposed that couples the phase kinetics and thermal modeling for the shape memory alloy with a dynamic Cosserat beam model. This hybrid model is benchmarked against experimental linear and morphing actuators resulting in a root mean squared error of 0.87 mm for the linear actuator and root mean squared error of 1.34 and 1.42 mm for the two morphing actuator configurations evaluated in this work. This model applies continuous phase kinetic equations in a comprehensive hybrid dynamical model to accurately simulate the hysteretic transition of the alloy, which is then coupled to a high deformation beam model. This work can expand the capability and design of novel morphing actuators to achieve specified dynamic characteristics for increased application in robotic fields.

Quantifying the complex transmission of substrate‐borne vibrations with scanning laser vibrometry

AbstractSubstrate‐borne vibrations are ubiquitous in nature and are used by diverse taxa to communicate and to obtain information about their environments. However, substrate‐borne vibrations remain understudied compared with other sensory and signaling modalities, in part due to human sensory biases. In addition, understanding and quantifying the transmission of vibrations remains a challenging task due to it being dependent on both signal properties and properties of the substrates that the signals transmit through. Here, we provide methods for playing back and measuring the transmission of vibrations throughout a substrate. Using linear resonant actuators, we conducted playbacks of pure tones and frequency sweeps on wooden dowels and on the stems of potted Ptelea trifoliata L. (Rutaceae) plants. We used scanning laser Doppler vibrometry to measure the signals at multiple locations along the length of the dowels and plant stems. We demonstrate that playback of a frequency sweep yields more data in a shorter amount of time than multiple playbacks and measurements of pure tone signals. Our results are also consistent with previous findings showing that signals produce frequency and location specific minima and maxima (nodes and antinodes) throughout the substrates, rather than simply attenuating with distance. This results in filtering of signals, such that their spectra are unique at any given measurement location—illustrating the importance of measuring vibrations at multiple locations. We discuss the implications of such filtering phenomena for vibrationally signaling animals and the biotremologists that study them.

Extending the operational range of Francis turbines: A case study of a 200 MW prototype

Francis turbines are now widely used to support the integration of renewable and intermittent energy sources such as solar and wind power. Consequently, these turbines often operate away from their best efficiency point (BEP). Such operations cause detrimental pressure fluctuations in the runner and draft tube, leading to early fatigue failures. To address these harmful flow conditions and extend the operating range of Francis turbines, a mitigation system was developed and tested on a large-scale, high-head 200 MW Francis turbine. The system consists of four circular rods placed in the draft tube with variable radial protrusion lengths, adjustable using linear actuators. Pressure, accelerometer, and vibration sensors installed on the turbine allowed quantification of the rod system performance. The results demonstrate the system’s capability to reduce pressure pulsations by up to 80 % in terms of maximum pressure amplitude and 100 % in terms of fatigue cycle in both low and high-frequency ranges, up to ten times the runner frequency, based on pressure analysis. The optimal rod protrusion ranges from 5 to 20 % of the runner outlet diameter function of the operating load. The impact of the rods’ protrusion on the turbine structure appears negligible from the accelerometer measurements performed on the draft tube and spiral casing. The hydraulic efficiency is reduced by up to 1 %. These findings are significant across a wide range of part-load operations, from 40 % to 60 % load, indicating the potential to extend the operational range of existing Francis turbines. The research presented here is a novel attempt to enhance the existing Francis turbines with a new degree of freedom using protruding rods.

SIMULATION OF AN AUTONOMOUS HYDROSTATIC DRIVE

The features of the application of autonomous electrohydraulic drives for power engineering are considered. The classification of linear actuators is given, the analysis of design and layout solutions of developers of autonomous steering actuators for general engineering is performed. The analysis of disadvantages is carried out and the directions of improvement of autonomous drives are presented. A scheme of an autonomous electrohydraulic drive with an automatic power control system based on the use of information from pressure, flow and displacement sensors is proposed. A mathematical model of an autonomous electrohydraulic drive with a power regulator has been developed, which makes it possible to estimate a random change in the load on the executive hydraulic motor and optimize the pump supply in accordance with the required task. The obtained research results confirm that an autonomous hydraulic drive with a power regulator is a promising technical solution that contributes to the development of high-precision power drives and controllability for general mechanical engineering.

Collaborative optimization of multi-physical fields for composite electromagnetic linear actuators

Collaborative optimization of multi-physical fields for composite electromagnetic linear actuators

Bilateral Back Extensor Exosuit for multidimensional assistance and prevention of spinal injuries.

Lumbar spine injuries resulting from heavy or repetitive lifting remain a prevalent concern in workplaces. Back-support devices have been developed to mitigate these injuries by aiding workers during lifting tasks. However, existing devices often fall short in providing multidimensional force assistance for asymmetric lifting, an essential feature for practical workplace use. In addition, validation of device safety across the entire human spine has been lacking. This paper introduces the Bilateral Back Extensor Exosuit (BBEX), a robotic back-support device designed to address both functionality and safety concerns. The design of the BBEX draws inspiration from the anatomical characteristics of the human spine and back extensor muscles. Using a multi-degree-of-freedom architecture and serially connected linear actuators, the device's components are strategically arranged to closely mimic the biomechanics of the human spine and back extensor muscles. To establish the efficacy and safety of the BBEX, a series of experiments with human participants was conducted. Eleven healthy male participants engaged in symmetric and asymmetric lifting tasks while wearing the BBEX. The results confirm the ability of the BBEX to provide effective multidimensional force assistance. Moreover, comprehensive safety validation was achieved through analyses of muscle fatigue in the upper and the lower erector spinae muscles, as well as mechanical loading on spinal joints during both lifting scenarios. By seamlessly integrating functionality inspired by human biomechanics with a focus on safety, this study offers a promising solution to address the persistent challenge of preventing lumbar spine injuries in demanding work environments.

Three-dimensional reconstruction method for layered structures based on a frequency modulated continuous wave terahertz radar.

The feasibility of employing a continuous-wave terahertz detection system for non-contact and non-destructive testing (NDT) in multi-layered bonding structures is assessed in this study. The paper introduces the detection principle of terahertz frequency modulated continuous wave (FMCW) radar and outlines the two-dimensional (2D) scanning platform, which integrates optical lenses, three linear actuators, a control platform, and data acquisition units. Experimental results on two types of insulation with prefabricated defects demonstrate the capability of terahertz waves for transparent inspection imaging. These results confirm the viability of terahertz FMCW detection technology as an advanced NDT tool for multi-layered bonding structures. However, the inherent limitations of terahertz wavelength and hardware systems pose challenges in discriminating reflection peaks on upper and lower surfaces. To address this issue, a local adaptive empirical wavelet coefficient modal decomposition (LAEWCMD) method is proposed to enhance the longitudinal discrimination ability of terahertz detection. The proposed method involves segmenting the 2D terahertz detection image into regions to differentiate between defective and non-defective areas. Continuous wavelet transforms (CWT) are then applied to the range signals of each region to derive continuous wavelet coefficients (CWCs). Subsequently, empirical mode decomposition (EMD) is performed on the CWCs to decompose them into intrinsic mode functions (IMFs) and residual signals. The 1st IMF is utilized for three-dimensional (3D) reconstruction, and the regions are fused to generate the final output. The effectiveness of the proposed method is validated on aircraft thermal protection structures (TPS), achieving high-precision 3D reconstruction. This offers a novel approach for the application of terahertz computed tomography imaging and NDT.

Novel plasma actuator for mitigation of dynamic stall

A novel plasma actuator, the Linear Counter-flow using a Point Embedded Electrode (LCPEE), is developed for the prevention of dynamic stall for a sinusoidal pitching movement between α = 4° and α = 18°. The LCPEE is implemented on a NACA0012 airfoil and tested at a Reynolds Number of Re c = 2 × 105 and reduced frequency of k = π/16. Prior investigations using a standard linear actuator showed that the exposed electrode introduced perturbations passively which delayed dynamic stall when the actuator was off. For the LCPEE actuator, when turned off, there is least passive delay. When the LCPEE is turned on at St f = 50, the dynamic stall is prevented for the sinusoidal pitching motion of the airfoil. The LCPEE actuator is also tested for the same sinusoidal motion between α = 6° and α = 20°. Four cases are considered for the higher α range of motion: actuator off, actuator on at St f = 50 with a sinusoidal input waveform, actuator on at St f = 50 with a triangular input waveform, and actuator on at St f = 100 with a sinusoidal input waveform. Specifically for the last case, experiment shows no flow reversal demonstrating the efficacy of LCPEE in controlling the dynamic stall. The effects of LCPEE on the flow energy distribution have also been studied by using proper orthogonal decomposition (POD) method.

On the analysis and control of a bipedal legged locomotion model via partial feedback linearization

In this study, we introduce a new model for bipedal locomotion that enhances the classical spring-loaded inverted pendulum (SLIP) model. Our proposed model incorporates a damping term in the leg spring, a linear actuator serially interconnected to the leg, and a rotary actuator affixed to the hip. The distinct feature of this new model is its ability to overcome the non-integrability challenge inherent in the conventional SLIP models through the application of partial feedback linearization. By leveraging these actuators, our model enhances the stability and robustness of the locomotion mechanism, particularly when navigating across varied terrain profiles. To validate the effectiveness and practicality of this model, we conducted detailed simulation studies, benchmarking its performance against other recent models outlined in the literature. Our findings suggest that the redundancy in actuation introduced by our model significantly facilitates both open-loop and closed-loop walking gait, showcasing promising potential for the future of bipedal locomotion, especially for bio-inspired robotics applications in outdoor and rough terrains.

Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism

Abstract. Ankle sprains are among the most common musculoskeletal injuries. Patients often require systematic rehabilitation training to expedite tissue healing and facilitate joint recovery. However, such training places high demands on medical staff, involves a lengthy process, requires considerable labor, and suffers from a shortage of skilled rehabilitation personnel. To address the need for effective ankle joint dysfunction rehabilitation training, this study analyzes the bone structure and movement mechanism of the ankle. Drawing on the parallel mechanism configuration, we propose a 4UPS-RRR parallel ankle rehabilitation mechanism. The rotation center of the rehabilitation mechanism can be highly coincident with the rotation center of the human ankle joint. The structure and degrees of freedom of the mechanism were designed and analyzed using screw theory. Additionally, a kinematic model of the mechanism was established. The mechanism's workspace was mapped by constraining the linear actuator length and spherical joint rotation angle. Furthermore, the mechanism's dexterity was assessed through the establishment of its Jacobian matrix, with the correctness of the kinematic model verified through simulation. Finally, an experimental platform was utilized to test the maximum range of robot motion, confirming the practicality of the ankle rehabilitation mechanism.

Development of a Novel Soft Tissue Measurement Device for Individualized Finite Element Modeling in Custom-Fit CPAP Mask Evaluation.

Individual facial soft tissue properties are necessary for creating individualized finite element (FE) models to evaluate medical devices such as continuous positive airway pressure (CPAP) masks. There are no standard tools available to measure facial soft tissue elastic moduli, and techniques in literature require advanced equipment or custom parts to replicate. We propose a simple and inexpensive soft tissue measurement (STM) indenter device to estimate facial soft tissue elasticity at five sites: chin, cheek near lip, below cheekbone, cheekbone, and cheek. The STM device consists of a probe with a linear actuator and force sensor, an adjustment system for probe orientation, a head support frame, and a controller. The device was validated on six ballistics gel samples and then tested on 28 subjects. Soft tissue thickness was also collected for each subject using ultrasound. Thickness and elastic modulus measurements were successfully collected for all subjects. The mean elastic modulus for each site is Ec = 53.04 ± 20.97kPa for the chin, El = 16.33 ± 8.37kPa for the cheek near lip, Ebc = 27.09 ± 11.38kPa for below cheekbone, Ecb = 64.79 ± 17.12kPa for the cheekbone, and Ech = 16.20 ± 5.09kPa for the cheek. The thickness and elastic modulus values are in the range of previously reported values. One subject's measured soft tissue elastic moduli and thickness were used to evaluate custom-fit CPAP mask fit in comparison to a model of that subject with arbitrary elastic moduli and thickness. The model with measured values more closely resembles in vivo leakage results. Overall, the STM provides a first estimate of facial soft tissue elasticity and is affordable and easy to build with mostly off-the-shelf parts. These values can be used to create personalized FE models to evaluate custom-fit CPAP masks.

On the effect of strain rate during the cyclic compressive loading of liquid crystal elastomers and their 3D printed lattices

Nematic liquid crystal elastomers (LCEs) are a unique class of network polymers with the potential for enhanced mechanical energy absorption and dissipation capacity over conventional network polymers because they exhibit both conventional viscoelastic behavior and soft-elastic behavior (nematic director changes under shear loading). This additional inelastic mechanism makes them appealing as candidate damping materials in a variety of applications from vibration to impact. The lattice structures made from the LCEs provide further mechanical energy absorption and dissipation capacity associated with packing out the porosity under compressive loading.Understanding the extent of mechanical energy absorption, which is the work per unit mass (or volume) absorbed during loading, versus dissipation, which is the work per unit mass (or volume) dissipated during a loading cycle, requires measurement of both loading and unloading response. In this study, a bench-top linear actuator was employed to characterize the loading-unloading compressive response of polydomain and monodomain LCE polymers and polydomain LCE lattice structures with two different porosities (nominally, 62% and 85%) at both low and intermediate strain rates at room temperature. As a reference material, a bisphenol-A (BPA) polymer with a similar glass transition temperature (9 °C) as the nematic LCE (4 °C) was also characterized at the same conditions for comparing to the LCE polymers. Based on the loading-unloading stress-strain curves, the energy absorption and dissipation for each material at different strain rates (0.001, 0.1, 1, 10 and 90 s-1) were calculated with considerations of maximum stress and material mass/density. The strain-rate effect on the mechanical response and energy absorption and dissipation behaviors was determined. The energy dissipation ratio was also calculated from the resultant loading and unloading stress-strain curves. All five materials showed significant but different strain rate effects on energy dissipation ratio. The solid LCE and BPA materials showed greater energy dissipation capabilities at both low (0.001 s−1) and high (above 1 s−1) strain rates, but not at the strain rates in between. The polydomain LCE lattice structure showed superior energy dissipation performance compared with the solid polymers especially at high strain rates.

NOUVELLE SOLUTION D'ACTIONNEUR LINÉAIRE À FORCE ÉLEVÉE À AIMANTS PERMANENTS

This paper presents a new design, numerical modeling, and experimental validation of a high-force linear actuator with permanent magnets. The proposed linear actuator solution is designed similarly to a classical electromagnet but is equipped with NdFeB permanent magnets and an auxiliary magnetic circuit. These auxiliary components produce a high static holding force when the actuator functions in one of its main operating positions. Like most linear actuators, the new solution has two operating positions: maximum air gap (open position) and minimum air gap (close position). This article aims to present the novel design, the working principle, and the implementation and experimental results of the actuator. The numerical solution of the actuator was obtained using the FEMM package, in which the electromagnetic parameters were computed. The force produced by the actuator was determined using the LUA script incorporated in FEMM. Numerical integration obtained other mechanical parameters (acceleration, work, and speed) with MATLAB.