Performance Of Actuator Research Articles

Slot‐Die‐Printed Electroactive Polymer Actuators with High‐Strain Sensitivity for Soft Robotic Applications

AbstractIonic electroactive polymer gels are widely employed as actuators in soft robotics due to their ability to undergo rapid mechanical deformation under low‐voltage. How to improve the performance of the ionic electroactive polymer actuators is always the focus of research in this field. Optimizing the migration of ions within the actuator is crucial for enhancing the actuation performance. In this regard, this study innovatively introduces slot‐die‐printing technology to fabricate gel actuation layers characterized by high smoothness and uniform particle distribution, achieving seamless integration between the electrodes and gel actuation layers, while mitigating issues associated with ion accumulation due to polymer clustering. Furthermore, this study attempts to add lactic acid to the traditional CS‐PVA‐IL gel, effectively strengthening the connection between CS and PVA, and promoting smooth ion transport within the gel. The results demonstrate that the actuators prepared in this study achieved a high‐bending‐strain of 0.35%, with a retention rate of 91% for actuation displacement after 10 000 cycles, showcasing superior actuation performance compared to existing research. The fabrication method proposed in this study is simple and highly reproducible, making it suitable for widespread industrial application, and providing a new approach for future industrial production of soft robotics.

Wet-Spinning Carbon Nanotube/Shape Memory Polymer Composite Fibers with High Actuation Stress and Predesigned Shape Change.

Actuators based on shape memory polymers and composites incorporating nanomaterial additives have been extensively studied; achieving both high output stress and precise shape change by low-cost, scalable methods is a long-term-desired yet challenging task. Here, conventional polymers (polyurea) and carbon nanotube (CNT) fillers are combined to fabricate reinforced composite fibers with exceptional actuation performance, by a wet-spinning method amenable for continuous production. It is found that a thermal-induced shrinkage step could obtain densified strong fibers, and the presence of CNTs effectively promotes the tensile orientation of polymer molecular chains, leading to much improved mechanical properties. Consequently, the CNT/ polyurea composite fibers exhibit stresses as high as 33MPa within 0.36 s during thermal actuation, and stresses up to 22MPa upon electrical stimulation enabled by the built-in conductive CNT networks. Utilizing the flexible thin fibers, various shape change behavior are also demonstrated including the conversion between different structures/curvatures, and recovery of predefined simple patterns. This high-performance composite fibers, capable of both thermal and electrical actuation and produced by low-cost materials and fabrication process, may find many potential applications in wearable devices, robotics, and biomedical areas.

Simulation of cooling system performance of super magnetostrictive actuator for high-speed trains

Simulation of cooling system performance of super magnetostrictive actuator for high-speed trains

Preparation and characterisation of IPMC brakes modified with composite electrodes performance

Ionic Polymer Metal Composite (IPMC) can be used as flexible actuators and sensors in the fields of bionic machinery and medical devices. However, IPMC still suffer from poor actuation performance and high cost of electrode preparation in practical applications. Optimisation of electrodes and use of novel assembly processes are expected to solve these problems. In this paper, low-dimensional nanocarbon materials were used to modify the Nafion membrane. Appropriate amounts of carbon nanotubes and carbon black were weighed and dispersed in chitosan and acetic acid to form a stable electrolyte. A new IPMC was prepared by bonding carbon nanotube and carbon black films on the Nafion membrane using the hot pressing method. Scanning electron microscope images showed that the hybrid films composed of carbon nanotubes and carbon black were successfully hot pressed onto the surface of the Nafion membrane and the hybrid electrode layer composed of carbon nanotubes and carbon black was more homogeneous and densely packed. The results of driving performance tests show that the hybrid electrode-modified IPMC has excellent driving performance, with a maximum output displacement of 9.2 mm and a maximum output force of 9.9 mN at a voltage of 5.0 V. These results are 1.07 and 1.14 times higher than those of the carbon nanotube IPMC and 1.74 and 1.70 times higher than those of the carbon black IPMC under the same conditions, respectively.

Active friction-regulated inertia impact piezoelectric actuator

In inertia impact piezoelectric actuators, the phenomenon of high-frequency drive-induced back-stepping poses a significant limitation to their overall performance. The ultra-fast response time of the piezoelectric stack enables the resolution of this issue. This paper introduces an inertia impact piezoelectric actuator operating under a novel Dual-Stack Motion Mode (DCMM), diverging from the traditional operation in the Single-Stack Motion Mode (STMM) that involves a solitary piezoelectric stack (PES) for active friction control. A comprehensive description of the actuator's structure and its operational principles under DCMM is provided. By constructing and experimentally evaluating the actuator using a controlled variable approach, a comparative analysis of performance between DCMM and STMM across various scenarios including different inertial mass blocks, driving voltages, frequencies, and load conditions was conducted. The experimental results indicate that DCMM significantly enhances the actuator's output performance, achieving a maximum speed of 1142.79 μm/s and a stable single-step displacement of 0.5 μm. The actuator features a simple yet effective structure and driving mechanism, allowing for multiple driving modes through the assembly of different inertial masses, thereby providing a substantial competitive advantage in output performance. The feasibility of using DCMM to improve actuator performance is corroborated by both theoretical and experimental studies. The ultra-fast response of the piezoelectric stacks expands the operational bandwidth of the actuator, achieving a seamless integration of speed and precision.

Performance of a Cable-Driven Robot Used for Cyber–Physical Testing of Floating Wind Turbines

Cyber–physical testing has been applied for a decade in hydrodynamic laboratories to assess the dynamic performance of floating wind turbines (FWTs) in realistic wind and wave conditions. Aerodynamic loads, computed by a numerical simulator fed with model test measurements, are applied in real time on the physical model using actuators. The present paper proposes a set of short and targeted benchmark tests that aim to quantify the performance of actuators used in cyber–physical FWT testing. They aim at ensuring good load tracking over all frequencies of interest and satisfactory disturbance rejection for large motions to provide a realistic test setup. These benchmark tests are exemplified on two radically different 15 MW FWT models tested at SINTEF Ocean using a cable-driven robot.

Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots.

Robots made from reconfigurable modular units feature versatility, cost efficiency, and improved sustainability compared with fixed designs. Reconfigurable modules driven by soft actuators provide adaptable actuation, safe interaction, and wide design freedom, but existing soft modules would benefit from high-speed and high-strain actuation, as well as driving methods well-suited to untethered operation. Here, we introduce a class of electrically actuated robotic modules that provide high-speed (a peak contractile strain rate of 4618% per second, 15.8-hertz bandwidth, and a peak specific power of 122 watts per kilogram), high-strain (49% contraction) actuation and that use magnets for reversible mechanical and electrical connections between neighboring modules, thereby serving as building blocks for rapidly reconfigurable and highly agile robotic systems. The actuation performance of each hexagonal electrohydraulic (HEXEL) module is enabled by a synergistic combination of soft and rigid components; a hexagonal exoskeleton of rigid plates amplifies the motion produced by soft electrohydraulic actuators and provides a mechanical structure and connection platform for reconfigurable robots composed of many modules. We characterize the actuation performance of individual HEXEL modules, present a model that captures their quasi-static force-stroke behavior, and demonstrate both a high-jumping and a fast pipe-crawling robot. Using embedded magnetic connections, we arranged multiple modules into reconfigurable robots with diverse functionality, including a high-stroke muscle, a multimodal active array, a table-top active platform, and a fast-rolling robot. We further leveraged the magnetic connections for hosting untethered, snap-on driving electronics, together highlighting the promise of HEXEL modules for creating rapidly reconfigurable high-speed robots.

Construction of MXene interlayer conductive ion transport channel by polypyrrole-coated cellulose nanofibers for ultralow voltage high-performance ionic soft actuators

Ionic soft actuators are extensively utilized in soft robotics and intelligent flexible devices due to their low-voltage actuation capability. MXene(Ti3C2Tx) has potential value as an electrode material for ionic soft actuators owing to its high conductivity and large specific surface area. However, the actuation performance of its ionic soft actuator is limited by poor extensibility and low capacitance caused by the stacking effect. Here, a high-performance ionic soft actuator with MXene\\polypyrrole-coated cellulose nanofibers (CNF@PPy) is reported. While gaining high flexibility of the electrode due to the great mechanical property of CNF, the fast conductive transport channel is constructed by doping CNF@PPy between MXene layers, which not only effectively reduces the loss of conductive properties and drastically improves the ion migration rate, but also prevents MXene from stacking and has additional chemical active sites, significantly increasing its ion storage capacity. Consequently, the actuator exhibits excellent actuation performance at the 0.5 V ultralow voltage: 0.79 % bending strain, 6 s rapid response, and 91.03 % high durability after 5 hours. Additionally, the potential for the actuating core of advanced flexible electronic devices is demonstrated by the application of flexible forceps and the flexible electronic eye.

Microscopic in situ observation of electromechanical instability in a dielectric elastomer actuator utilizing transparent carbon nanotube electrodes.

Electromechanical instability (EMI) restricts the performance of dielectric elastomer actuators (DEAs), leading to premature electrical breakdown at a certain voltage. However, macro-level observations using traditional carbon grease electrodes have failed to capture the detailed features of EMI. In this study, we investigated EMI at the microscopic scale by fabricating transparent and conductive single-walled carbon nanotube (SWCNT) electrodes. Our findings reveal that EMI predominantly occurs in highly localized regions with dimensions on the order of tens of micrometers. This snap-through instability is likely induced by pre-existing defects within the elastomer, such as air voids or conductive particles, which reduce the critical voltage required for EMI in the flawed areas. From the perspective of phase transition principles, these defects act as heterogeneous nucleation sites for new phase embryos, thereby lowering the energy barrier for the electromechanical phase transition (i.e., EMI) compared to homogeneous nucleation in an ideally impurity-free elastomer. This study clarifies the longstanding discrepancy between theoretically predicted deformation bursts and the experimentally observed macroscopic continuous expansion of DEAs under low pre-stretch conditions. Additionally, it underscores the critical importance of material purity in mitigating electromechanical instability.

Wind-Tunnel-in-the-Loop Exploration and Optimization of Active Flow Control Parameters

This paper considers the use of surrogate-based analysis and optimization (SBAO) methods to investigate the performance of pulsed jet actuators for active separation control in a wind tunnel. Two experimental setups are examined: pressure-induced separation on a one-sided diffuser and trailing-edge separation on a NACA 64A-015 airfoil. In both cases the modeling is done using Gaussian process regression (kriging), and the investigated active-flow-control parameters are the amplitude, frequency, and duty cycle of the actuators that are used to mitigate boundary-layer separation. In the diffuser test case, a parameter-space exploration is conducted to examine the effect of the three input parameters on the amount of reverse flow detected by an array of calorimetric shear-stress sensors. In the airfoil test case, an optimization strategy is followed to maximize an objective function constructed with the airfoil sectional lift coefficient and the mass flow consumption of the actuators. Both experiments consistently indicate that lowering the duty cycle of the pulsed-jet actuators below 0.5 may lead to efficiency gains in active separation control by limiting their mass flow consumption for equal performance, but with a concomitant supply pressure increase. Overall, the results presented herein demonstrate that SBAO methods could provide a potential for more efficient wind tunnel investigations involving multiparameter problems.

Design and Validation of a Modular, Backdrivable Ankle Exoskeleton.

Partial-assist ankle exoskeletons have been limited by inherent trade-offs between favorable characteristics including high torque capacity, high control bandwidth, back-drivability, compliance, and low mass. Emerging quasi-direct drive actuators have a rigid transmission with a low gear ratio, enabling inherent backdrivability and compliance with accurate torque and position control. Our existing modular, backdrivable exoskeleton system (M-BLUE) uses quasi-direct drive actuators at the hip and/or knee to deliver high assistive torques alongside low dynamic backdrive torques, enabling natural interaction with users with remnant voluntary motion. This paper extends our modular system with the design and validation of a back-drivable ankle exoskeleton module to assist both plantarflexion and dorsiflexion. The bi-directional torque capabilities enable the study of control methods and gait outcomes for able-bodied users and users with gait impairments. Benchtop tests of the actuator performance and control bandwidth indicate that the position, voltage, and current control modes can provide assistance to the ankle joint across activities of daily living (ADLs). We also implement an optimal task-agnostic energy shaping controller for an experiment with a single human subject to validate the ability of the ankle exoskeleton to provide biomimetic torque assistance across a circuit of ADLs.

Variable stiffness performance analysis of layer jamming actuator based on bionic adhesive flaps

Soft actuators made of soft materials cannot generate precisely efficient output forces compared to rigid actuators. It is a promising strategy to equip soft actuators with variable stiffness modules of layer jamming mechanism, which could increase their stiffness as needed. Inspired by the gecko's the array of setae, bionic adhesive flaps with inclined micropillars are applied in layer jamming mechanism. In this paper, after the manufacturing process of the layer jamming actuator based on the bionic adhesive flaps is described, the equivalent stiffness models of the whole actuator are established in the unjammed and jammed states. And the shear adhesive force of a single micropillar is calculated based on the Kendall viscoelastic band model. The finite element simulation results of two bionic adhesive flaps show that the interlaminar shear stress and stiffness increase with the increase of pressure. The measurement of shear adhesive force show that the critical shear adhesive force of the bionic adhesive material is 3.2 times that of polyethylene terephthalate (PET) material, and exhibit the ability of anisotropic adhesion behavior. The variable stiffness performance of the layer jamming actuator based on bionic adhesive flaps is evaluated by three test methods, and the max stiffness reaches 8.027 N mm-1, which is 1.5 times higher than the stiffness of the layer jamming actuator based on the PET flaps. All results of simulation and experiment effectively verify the validity and superiority of applying the bionic adhesive flaps to the layer jamming mechanism to enhance the stiffness.

A Transparent, Patternable, and Stretchable Conducting Polymer Solid Electrode for Dielectric Elastomer Actuators

AbstractDielectric elastomer actuators (DEAs) offer versatile applications including haptics, soft robotics and smart lenses. However, due to the lack of conductive electrodes with low modulus and high stretchability, their use is limited by nonsolid electrodes, hindering integration with other systems. In this study, transparent and patternable solid electrodes, achieving actuation performance comparable to a commonly used non‐solid counterpart (e.g., carbon grease), with a stretchable and patternable conducting polymer composed of PEDOT:PSS and PEG‐PPG‐PEG diacrylate (P123DA) are reported. Varying the ratio of P123DA to PEDOT:PSS enables optimization of electrical and mechanical properties to achieve compliant solid electrodes in static and dynamic actuation. The ratio of P123DA to PEDOT:PSS is found to impact PEDOT:PSS nanofiber formation and the associated electrical and mechanical properties. Moreover, the resulting P123DA/PEDOT:PSS‐based solid electrode shows excellent optical transmittance exceeding 95%. This work highlights the potential of tuning different solid electrode properties to realize transparent, patternable, and stretchable solid electrodes, enhancing their applicability in diverse fields.

Optimizing the Electrode Geometry of an In-Plane Unimorph Piezoelectric Microactuator for Maximum Deflection

Piezoelectric microactuators have been widely used for actuation, sensing, and energy harvesting. While out-of-plane piezoelectric configurations are well established, both in-plane deflection and asymmetric electrode placement have been underexplored in terms of actuation efficiency. This study explores the impact of asymmetric electrode geometry on the performance of slender unimorph actuators that deflect in-plane, where actuator length is much larger than width or thickness. After validating the finite element modeling method against experimental data, the geometric parameters of the proposed unimorph model are manipulated to explore the effect of different electrode geometries and layer thicknesses on actuation efficiency. Four key findings were that (1) the fringing field within the piezoelectric material plays a measurable role in performance, (2) symmetry in electrode placement is generally nonoptimal, (3) optimal electrode geometry is independent of scale, and (4) the smaller the ratio of width to thickness, the larger the deflection. The findings contribute to the development of efficient design strategies that optimize the performance of planar actuators for potential implications for microelectromechanical systems (MEMS). To aid designers of piezoelectric unimorph actuators in determining the optimal electrode geometry, three types of parameterized figures and two types of simulation apps are provided.

Fabrication and Performances of Piezoelectric Functional Gradient BLF-xPT Ceramic Actuators by the Tape Casting Method

Fabrication and Performances of Piezoelectric Functional Gradient BLF-xPT Ceramic Actuators by the Tape Casting Method

Modular multilayered PVC gel soft actuators for novel lightweight humanoid facial robot

Electroactive multilayered poly (vinyl chloride) (PVC) gel actuators (MPGAs) have attracted increasing interest in the field of soft robotics. However, they still face problems such as relatively low contraction strain, poor durability, and robustness. Herein, we report a new modular multilayered PVC gel actuator (M-MPGA) based on stainless steel meshed electrodes. The output characteristics of the actuator were notably improved by adjusting the plasticizer content in the gel and optimizing the structural parameters of the meshed anode electrodes. The effect of the number of stacked layers on the performance of the actuator was investigated and a dynamic model was derived for the actuator modular design. Actuator modules with multidirectional degrees of actuation were established and applied to a humanoid facial robot for the first time. The developed actuator with a meshed electrode size of #60 was found to exhibit a high contraction strain of over 20 %, which is almost twice that of the traditional MPGAs with an electrode size of #100. In addition, the fabricated actuator module had a low loss rate (1.152 %), high operating bandwidth (9.7 Hz), fast response (∼45 ms), and exceptional stability (95.24 % retention at 10,000 s actuation) without any distortion of the actuation performance. Furthermore, the developed prototype humanoid facial robot demonstrated the advantages of ultralight weight (754 g), smooth facial expression, and ease of control.

Acoustofluidic Diversity Achieved by Multiple Modes of Acoustic Waves Generated on Piezoelectric-Film-Coated Aluminum Sheets.

Excitation of multiple acoustic wave modes on a single chip is beneficial to implement diversified acoustofluidic functions. Conventional acoustic wave devices made of bulk LiNbO3 substrates generally generate few acoustic wave modes once the crystal-cut and electrode pattern are defined, limiting the realization of acoustofluidic diversity. In this paper, we demonstrated diversity of acoustofluidic behaviors using multiple modes of acoustic waves generated on piezoelectric-thin-film-coated aluminum sheets. Multiple acoustic wave modes were excited by varying the ratios between IDT pitch/wavelength and substrate thickness. Through systematic investigation of fluidic actuation behaviors and performances using these acoustic wave modes, we demonstrated fluidic actuation diversities using various acoustic wave modes and showed that the Rayleigh mode, pseudo-Rayleigh mode, and A0 mode of Lamb wave generally have better fluidic actuation performance than those of Sezawa mode and higher-order modes of Lamb wave, providing guidance for high-performance acoustofluidic actuation platform design. Additionally, we demonstrated diversified particle patterning functions, either on two sides of acoustic wave device or on a glass sheet by coupling acoustic waves into the glass using the gel. The pattern formation mechanisms were investigated through finite element simulations of acoustic pressure fields under different experimental configurations.

Closed-Loop Recyclable and Totally Renewable Liquid Crystal Networks with Room-Temperature Programmability and Reconfigurable Functionalities.

Dynamic covalent liquid crystal networks (DCv-LCNs) with straightforward (re)programmability, reprocessability, and recyclability facilitates the manufacture of sophisticated LCN actuators and intelligent robots. However, the DCv-LCNs are still limited to heat-assisted programming and polymer-to-polymer reprocessing/recycling, which inevitably lead to deterioration of the LCN structures and the actuation performances after repeated programming/processing treatments, owing to the thermal degradation of the polymer network and/or external agent interference. Here, a totally renewable azobenzene-based DCv-LCN with room-temperature programmability and polymer-to-monomers chemical recyclability is reported, which was synthesized by crosslinking the azobenzene-containing dibenzaldehyde monomer and the triamine monomer via the dynamic and dissociable imine bonds. Thanks to the water-activated dynamics of the imine bonds, the resultant DCv-LCN can be simply programmed, upon water-soaking at room temperature, to yield a UV/Vis light-driven actuator. Importantly, the reported DCv-LCN undergoes depolymerization in an acid-solvent medium at room temperature because of the acid-catalyzed hydrolysis of the imine bonds, giving rise to easy separation and recovery of both monomers in high purity, even with tolerance to additives. The recovered pure monomers can be used to regenerate totally new DCv-LCNs and actuators, and their functionalities can be reconfigured by removing old and introducing new additives, by implementing the closed-loop polymer-monomers-polymer recycling.

Closed‐Loop Recyclable and Totally Renewable Liquid Crystal Networks with Room‐Temperature Programmability and Reconfigurable Functionalities

AbstractDynamic covalent liquid crystal networks (DCv‐LCNs) with straightforward (re)programmability, reprocessability, and recyclability facilitates the manufacture of sophisticated LCN actuators and intelligent robots. However, the DCv‐LCNs are still limited to heat‐assisted programming and polymer‐to‐polymer reprocessing/recycling, which inevitably lead to deterioration of the LCN structures and the actuation performances after repeated programming/processing treatments, owing to the thermal degradation of the polymer network and/or external agent interference. Here, a totally renewable azobenzene‐based DCv‐LCN with room‐temperature programmability and polymer‐to‐monomers chemical recyclability is reported, which was synthesized by crosslinking the azobenzene‐containing dibenzaldehyde monomer and the triamine monomer via the dynamic and dissociable imine bonds. Thanks to the water‐activated dynamics of the imine bonds, the resultant DCv‐LCN can be simply programmed, upon water‐soaking at room temperature, to yield a UV/Vis light‐driven actuator. Importantly, the reported DCv‐LCN undergoes depolymerization in an acid‐solvent medium at room temperature because of the acid‐catalyzed hydrolysis of the imine bonds, giving rise to easy separation and recovery of both monomers in high purity, even with tolerance to additives. The recovered pure monomers can be used to regenerate totally new DCv‐LCNs and actuators, and their functionalities can be reconfigured by removing old and introducing new additives, by implementing the closed‐loop polymer‐monomers‐polymer recycling.

Experimental study of characterization and optimization of shape memory alloy sheet for enhanced mechanical actuation performance for microelectromechanical systems (MEMS)

In this paper, a shape memory alloy (SMA), NiTiNOL, zigzag sheet is used and experimental method is developed using programmable power supply, laser displacement sensor, and K-type thermocouple to investigate actuation and thermo-mechanical behavior of trained SMA zigzag sheet under three different weights, 2.5 N, 3.5 N, and 4.5 N, along with three distinct voltage levels 2.0 V, 3.0 V, and 4.0 V and hysteresis curves are comprehensively examined to get optimum value of load and voltage to achieve better life cycle and actuation as per the requirement of the design. The displacement and temperature data of the zigzag sheet is recorded for every 200 ms for the entire operating life, utilizing heating and cooling processes, of the zigzag sheet and the value of constant displacement for each cycle is optimized which can be used for the development of microelectromechanical systems (MEMS).