Types Of Actuators Research Articles

The de-icing method using synthesized envelope modulation signals from resonance low-frequency and ultrasonic signals

This paper proposes a method of combining low-frequency resonance signals and ultrasonic signals through envelope modulation to form an excitation signal for de-icing. Modulated signals are applied to a single type of actuator for de-icing, aiming to simplify the equipment required for de-icing and reduce power consumption. The envelope modulation signal is generated by combining low-frequency signals with ultrasonic signals using amplitude modulation, the Hamming window function, and the Hanning window function, respectively. The de-icing excitation effects of the modulation signals generated by different modulation methods at various initial phases on the ice-covered leading edge of the blade are calculated through numerical simulations. Simulations show that the modulation method and initial phase have a significant impact on the de-icing excitation effect. Experiments are conducted to explore the de-icing effectiveness and power consumption under different envelope modulation signal excitations. The results indicate that the envelope modulation signal de-icing method can simplify equipment and reduce power consumption, showing promising development and application prospects.

Influence of superelastic training and huge strains on field-induced martensitic variants reorientation in particulate Ni–Mn–Ga/silicone composite

Abstract Ni–Mn–Ga ferromagnetic shape memory alloys (FSMAs) are promising materials for actuator and transducer devices. Their intrinsic brittleness and high fabrication cost in the bulk form are issues to be solved. One of the solutions is a development of composites comprising these materials as a filler component whereby representing an emerging research field in the FSMAs. To address the improvement and stability challenges of the magnetic field-induced martensitic variant reorientation (MVR) characteristics of the particles in the previously elaborated ‘Ni–Mn–Ga single-crystalline particles/silicone rubber’ composites and to unveil new aspects of their functional behaviors, in the present work, we have investigated MVR characteristics as a function of compression cycling and under huge in-situ opposing contractions. It was found that after cycling with the 30% of compressive strain along the particle chains, the value of switching magnetic field needed to start MVR events was notably reduced, whereas it was almost intact when in-situ measured under the same compression level. In-situ measurements of the ‘magnetization versus magnetic field’ curves of the composite squeezed by 50% or 70% did not show MVR blocking. Instead, they revealed both a drastic decrease of the MVR switching field and narrowing of the MVR interval caused by the barreling effect. The results can be useful for the development of novel types of actuators and transducers.

Single motor driven soft actuator design based on nonuniform sheering auxetic structure

Abstract Grasping functionality is one of the core functionalities that a manipulator needs to possess. Traditional rigid manipulators are typically composed of rigid materials. However, when dealing with objects of complex shapes, irregular surfaces, or soft materials, rigid manipulators often face challenges in effectively grasping and stably holding objects due to their rigidity, which can lead to damage or failure. To address these issues, constructing manipulators using soft actuators can be highly advantageous. In most current research, soft actuators are typically composed of flexible materials and fluids, which can result in highly complex dynamic behaviors and nonlinear characteristics. This complexity makes precise modeling and control of soft actuators more challenging, necessitating the use of advanced control algorithms and techniques to mitigate nonlinear effects. In this study, we first establish a mathematical model for the torsional and bending deformations of non-uniform shearing-auxetic structures. Subsequently, we validate the reliability of the mathematical model through simulation. Finally, we design a soft actuator that requires only single-motor control, which is based on the structural design of non-uniform shearing-auxetic structures. This type of soft actuator not only simplifies control aspects but also facilitates practical modeling and manufacturing processes. Moreover, it’s capable of achieving spiral grasping functionality.

Membrane piezoelectric MDS-actuator with a flat double spiral of interacting electrodes

A schematic diagram and mathematical model of functioning of a new piezoelectric membrane (MDS) actuator with double spiral (DS) electrodes on the upper and/or lower surfaces of a thin piezoelectric layer with axisymmetric and periodic (with a small period) in radial coordinate mutual reversed electric polarization are presented. The polarization of the layer was realized as a result of connecting the polarizing electric voltage of the appropriate value to the outputs of the double spirals of the electrodes. The electrodes of each (upper and lower) double spiral of the MDS-actuator are made in the form of electrodeposited ribbon coatings on the surfaces of the piezoelectric layer in close proximity to each other (due to the small spiral pitch) to create high values of electric field strength along the lines of force in localized areas of the piezoelectric layer between them when an alternating or constant control electric voltage is connected to the electrodes, in particular, with positive and negative values of the electrical potentials. Importantly, the electric field force lines and, as a consequence, the polarization of the piezoelectric layer of the MDS actuator are oriented mainly along (i.e. towards or against) the radial coordinate of the membrane, in contrast to many conventional actuator schemes. The results of numerical modeling for a circular elastic membrane with piezoelectric actuators installed on its upper and lower surfaces confirmed the effectiveness of the proposed piezoelectric MDS-actuator when it functions according to the “bimorph” scheme, including the use of the proposed new structural element (section) – a piezoelectric “compression ring” MDS at various geometric and control parameters. The effect of a significant increase in the membrane deflection with installed piezoelectric MDS-actuators compared to the use of traditional homogeneous plate piezoelectric actuators of bimorph type for different conditions of the membrane fixation, in particular, stationary (rigid) fixation of its center is revealed. For a hybrid piezoelectric MDS-actuator including independent concentric round and circular (i.e. “compression ring”) sections, the non-monotonic nature and numerical analysis of the nonlinear dependence of the largest deflection at the center of a hinge-immobile membrane fixed at the edge on the ratio of the radii of its round and circular MDS sections were revealed. The cases in which the effect of the “compression ring” is manifested, i.e. when the maximum deflection of a membrane with the “compression ring” exceeds the best possible value of the deflection of this membrane without its use in the traditional “bimorph” scheme, are identified. The new piezoelectric MDS-actuator can be used in micromechanics, controlled optics, sensor technology, acoustics, in particular, in the manufacture of piezoelectric acoustic or sensor elements of membrane type, electromechanical transducers for vibration energy collection.

3D‐printed biomimetic and bioinspired soft actuators

AbstractA major intent of scientific research is the replication of the behaviour observed in natural spaces. In robotics, these can be through biomimetic movements in devices and inspiration from diverse actions in nature, also known as bioinspired features. An interesting pathway enabling both features is the fabrication of soft actuators. Specifically, 3D‐printing has been explored as a potential approach for the development of biomimetic and bioinspired soft actuators. The extent of this method is highlighted through the large array of applications and techniques used to create these devices, as applications from the movement of fern trees to contraction in organs are explored. In this review, different 3D‐printing fabrication methods, materials, and types of soft actuators, and their respective applications are discussed in depth. Finally, the extent of their use for present operations and future technological advances are discussed.

Investigation of attitude control actuators for large flexible space structures using inverse simulation

This paper proposes a modular mathematical model and Inverse Simulation methods to investigate a variety of attitude control actuators for Large Space Structures. The modular model is developed to allow for different actuator types to be easily implemented and combined, facilitating investigations into a variety of actuator configurations. The generic Inverse Simulation method allows for the inverse dynamic solution to be found for any configuration of actuators without any modifications to the solution process, facilitating rapid experimentation. Reaction wheels, magnetorquers, and solar pressure torque actuators are all considered with mass scaling laws ensuring that each actuator type is compared realistically. The investigations consider the limitations of each actuator type and the deformations experienced by the structure during a large slew manoeuvre. It is found that the distribution of smaller torques across the Large Space Structure reduces deformation and combinations of different actuator types, instead of a single type of actuator, allow for a good compromise between mass, power and structural deformation.

Measuring inverse flexoelectric effect at the macro scale and flexoelectric actuator

Abstract The flexoelectric effect is a two-way mechanical-electrical coupling. The dielectric is polarized when subjected to bending moments, and inversely, the electric field can also induce strain gradients within the dielectric. Although equally important, research on the inverse flexoelectric effect has lagged far behind that on the direct effect, and investigations of the inverse effect on a macroscopic scale are noticeably lacking. This dilemma impedes the design of flexoelectric actuators. To go out of the dilemma, in this work, we design an experimental method to achieve inverse flexoelectricity and propose a method to measure the inverse flexoelectric effect with a lower voltage at the macroscopic scale. The result shows that the flexoelectric coefficient of SrTiO3 (STO) single crystal from the inverse flexoelectric experiment has the same order of magnitude as that of the direct flexoelectric experiments. Furthermore, this method can be utilized to design an STO flexoelectric actuator on a macroscopic scale. The displacement resolution of flexoelectric actuators is as low as 0.42 pm V−1, which is three orders of magnitude lower than that of piezoelectric actuators. This type of flexoelectric actuator is important for precise driving and positioning.

Bio-inspired circular soft actuators for simulating defecation process of human rectum.

Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive system, the rectum has been largely neglected due to societal stigma. This study seeks to address this gap by developing soft circular muscle actuators (CMAs) and rectum models to replicate the defecation process. Using soft materials, both the rectum and the actuators were fabricated to enable seamless integration and attachment. We designed, fabricated, and tested three types of CMAs and compared them to the simulated results. A pneumatic system was employed to control the actuators, and simulated stool was synthesized using sodium alginate and calcium chloride. Experimental results indicated that the third type of actuator exhibited superior performance in pressure generation, enabling the area contraction to reach a maximum value of 1. The successful simulation of the defecation process highlights the potential of these soft actuators in biomedical applications, providing a foundation for further research and development in the field of soft robotics.

Bioinspired Hydro- and Hydrothermally Responsive Tubular Soft Actuators.

Soft actuators made of thermoresponsive polymers have great potential for intelligent robotics and biomedical devices due to their reversible deformation capability in response to temperature fluctuations. However, they are constrained by a predefined phase transition temperature, limited directional deformation, and nonbiocompatible formulations, thereby restricting their practical utility. Herein a new biomimicry approach is presented to overcome these limitations by developing hydro- and hydrothermally responsive soft actuators made of biocompatible and pliable materials i.e. cotton yarn and polyurethane. We mimic the tubular shape of elephant trunks with their unique muscle orientation by embedding a helical cotton yarn within a hydrophilic polyurethane tube, followed by targeted surface patterning. Unlike the narrow-range shape morphing across the phase transition temperature boundary of typical thermoresponsive hydrogel actuators, we harness hydrothermal stiffness variations in polyurethane to obtain consistent morphing capabilities over a much wider temperature range. The developed actuators can perform versatile activities such as linear, bending, curvilinear, and rotating movements, overcoming the unidirectional motion limitations of conventional soft actuators. The cell viability assay on the building block materials also confirms the high biocompatibility of the actuators. The reported facile fabrication strategy provides new insights for designing complex yet free-standing soft actuators from readily available supple materials.

Locking Alignment of Liquid Crystal Actuators Using Hydrogen Bonds to Enable Room‐Temperature Shape Programmability and Enhanced Work Capacity

AbstractSoft actuators that mimic the softness and deformability of living organisms have great potential for use in various fields. For most soft actuators, achieving both reprogrammable shape and high work capacity is crucial but challenging. These properties are mutually exclusive for liquid crystal elastomers (LCEs), an important type of soft actuators. Herein, a room‐temperature shape‐programmable LCE capable of high‐energy actuation is developed. Our approach utilizes hydrogen bonds to stabilize the aligned liquid crystal phases. The slow recovery of H‐bonds at room temperature provides a specific processing window, during which the sample shape can be programmed after the thermal treatment. The temperature‐dependent rearrangement of hydrogen bonds allows for fabrication of actuators with customized shapes in a facile do‐it‐yourself manner. Additionally, the integration of strong covalent cross‐links is vital for holding structural integrity. The combination of non‐covalent and covalent cross‐linking significantly improves the mechanical properties, enabling the actuators to perform reversible actuation with a work capacity (440 kJ m−3) higher than that of traditional LCEs (<100 kJ m−3). This study provides a turnkey strategy to address the conflict between shape reprogrammability and work capacity, advancing the development of soft actuators.

Optimizing the grasping behavior of a soft robot's gripper

AbstractIn this study, smart composite materials based on 4D printing technology were used to determine the grasping ability of four‐claw gripper of soft robot. First, fused deposition modeling (FDM) is used to prepare polylactic acid (PLA) strips on the surface of a rectangular bamboo substrate to create a single‐claw gripper for a smart composite soft robot, while using stimulus (heat) to deform and recover its original shape. Here, the authors first evaluate the deformation and recovery angle of the single‐claw gripper of the smart composite soft robot, as well as various processing parameters such as heating temperature and time. This study then used FDM to print PLA ribbons on cross‐shaped bamboo sheets to design the four‐claw gripper of soft robot and its gripper technology was actuation type. Then, the four‐claw gripper of soft robot was used to grab the table tennis ball to test its grasping ability. Finally, four processing parameters (width of claw, pitch of PLA ribbon, heating temperature, and heating time) were applied to determine the grasping ability of the four‐claw gripper of soft robot. The optimal processing parameters for the grasping ability of the four‐claw gripper of soft robot were width of claw of 20.2 mm, pitch of PLA ribbon of 1 mm, heating temperature of 200°C, and the heating time of 15 s. The authors also applied the operation window of two processing parameters to discuss the success of the grasping ability of the four‐claw gripper of soft robot. The innovation of this study is the use of PLA/bamboo composite materials as the four‐claw gripper of soft robot and these materials are cheap, easy to obtain, and can be recycled naturally. This study uses a simple thermal stimulus to enable the four‐claw gripper of soft robot to easily grasp irregular objects.Highlights The innovative composite material of polylactic acid and bamboo fabricated by 3D printing. Width of claw and heating temperature are the key factors on grasping ability. Operating window of grasping ability appears on four‐claw gripper of soft robot.

Design and study of a separated stick-slip piezoelectric actuator

ABSTRACT The stick-slip type actuator based on the stick-slip driving principle has the characteristics of simple structure, high precision, large travel and no electromagnetic interference. However, the stick-slip driving principle leads to the existence of the displacement backward phenomenon when it is driving in a single direction, which reduces the output performance of the driver. In order to solve the above problem, a stick-slip separated piezoelectric actuator with separable stator and actuator is designed by combining the advantages of lever mechanism and triangle mechanism in this paper, and theoretical calculations and simulations on the flexible hinged amplification mechanism are carried out. The prototype of the stick-slip separable piezoelectric actuator is made, and the output characteristics and speed characteristics of the actuator are experimentally tested to determine the optimum voltage and frequency values for practical operation.

MEMS Micromirror Actuation Techniques: A Comprehensive Review of Trends, Innovations, and Future Prospects

Micromirrors have recently emerged as an essential component in optical scanning technology, attracting considerable attention from researchers. Their compact size and versatile capabilities, such as light steering, modulation, and switching, are leading them as potential alternatives to traditional bulky galvanometer scanners. The actuation of these mirrors is critical in determining their performance, as it contributes to factors such as response time, scanning angle, and power consumption. This article aims to provide a thorough exploration of the actuation techniques used to drive micromirrors, describing the fundamental operating principles. The four primary actuation modalities—electrostatic, electrothermal, electromagnetic, and piezoelectric—are thoroughly investigated. Each type of actuator’s operational principles, key advantages, and their limitations are discussed. Additionally, the discussion extends to hybrid micromirror designs that combine two types of actuation in a single device. A total of 208 closely related papers indexed in Web of Science were reviewed. The findings indicate ongoing advancements in the field, particularly in terms of size, controllability, and field of view, making micromirrors ideal candidates for applications in medical imaging, display projections, and optical communication. With a comprehensive overview of micromirror actuation strategies, this manuscript serves as a compelling resource for researchers and engineers aiming to utilize the appropriate type of micromirror in the field of optical scanning technology.

Development and Improvement of a “Paper Actuator” Based on Carbon Nanotube Composite Paper with Unique Structures

We propose a new type of soft actuator based on carbon nanotube (CNT) composite paper (CNTCP), i.e., a paper actuator. In our previous study, we demonstrated that actuator operation was possible when using CNTCPs as electrodes with ordinary paper containing ionic liquid between the electrodes; however, their bending motion was not sufficient. Therefore, we here attempt to modify the paper actuator. For this, we tried to soften CNTCPs by first reducing the ratio of contained CNTs. In addition, as a new strategy, we took advantage of the fact that the proposed actuator was made of paper and introduced the Kirigami (introducing periodical slits to papers) technique into the structure of our paper actuator. As a result, the performance of the actuator was improved, and its bending motion became visibly larger. The response of the improved actuator to the input voltage was investigated in detail, and the detailed operating conditions could be clarified. Moreover, it was found that not only a bending motion but also a twisting motion could be realized in specific slit patterns. It is thought that the fact that the variation in movement can be increased simply by adding incisions is unique to the proposed paper actuator.

Stimuli-Responsive Polymer Actuator for Soft Robotics.

Polymer actuators are promising, as they are widely used in various fields, such as sensors and soft robotics, for their unique properties, such as their ability to form high-quality films, sensitivity, and flexibility. In recent years, advances in structural and fabrication processes have significantly improved the reliability of polymer sensing-based actuators. Polymer actuators have attracted considerable attention for use in artificial or biohybrid systems, as they have the potential to operate under diverse conditions with high durability. This review briefly describes different types of polymer actuators and provides an understanding of their working mechanisms. It focuses on actuation modes controlled by diverse or multiple stimuli. Furthermore, it discusses the fabrication processes of polymer actuators; the fabrication process is an important consideration in the development of high-quality actuators with sensing properties for a wide range of applications in soft robotics. Additionally, the high potential of polymer actuators for use in sensing technology is examined, and the latest developments in the field of polymer actuators, such as the development of biohybrid polymers and the use of polymer actuators in 4D printing, are briefly described.

Review and analysis of software simulators for robotic information systems

The rapid development of educational technologies requires the active involvement of new means and effective teaching methods. One of the innovative tools of learning in the field of robotics is the use of robot simulators in the educational process, which open up many opportunities for better assimilation of knowledge and development of practical skills among students. Robot simulators are software complexes that allow you to visualize and simulate the behavior of real robots. With these tools, students can: program robots in a virtual environment, test code and debug without the risk of damaging real equipment; to study robotics and the principles of robot operation, exploring different types of sensors, actuators and algorithms of robot behavior; to solve problems in various fields, such as production automation, logistics, construction, etc.; practices your skills in a safe and controlled environment. Among the benefits of using robotic simulators are next: availability for a large number of students, as simulators are much cheaper than real jobs; safety, as the virtual environment eliminates the risks associated with working with real robots; flexibility that allows students to work at their own pace, explore different scenarios and experiment with different parameters; interactivity with a realistic 3D-environment and visualization. This work presents an overview and analysis of software that allows modeling robot control systems and simulating their operation for various algorithms. A review and analysis of the proposed software tools for simulating robotic systems, which are used to teach bachelor's and master's degree students in the specialties of "Computer Science", "Information Systems", "Industrial Mechanical Engineering" and "Applied Mechanics" and have proven their effectiveness and effectiveness in distance learning at the Kyiv National University of Construction and Architecture.

Actuator fault diagnosis and severity identification of turbofan engines for steady-state and dynamic conditions

Actuator faults can be critical in turbofan engines as they can lead to stall, surge, loss of thrust and failure of speed control. Thus, fault diagnosis of gas turbine actuators has attracted considerable attention, from both academia and industry. However, the extensive literature that exists on this topic does not address identifying the severity of actuator faults and focuses mainly on actuator fault detection and isolation. In addition, previous studies of actuator fault identification have not dealt with multiple concurrent faults in real time, especially when these are accompanied by sudden failures under dynamic conditions. This study develops component-level models for fault identification in four typical actuators used in high-bypass ratio turbofan engines under both dynamic and steady-state conditions and these are then integrated with the engine performance model developed by the authors. The research results reported here present a novel method of quantifying actuator faults using dynamic effect compensation. The maximum error for each actuator is less than 0.06% and 0.07%, with average computational time of less than 0.0058 s and 0.0086 s for steady-state and transient cases, respectively. These results confirm that the proposed method can accurately and efficiently identify concurrent actuator fault for an engine operating under either transient or steady-state conditions, even in the case of a sudden malfunction. The research results demonstrate the potential benefit to emergency response capabilities by introducing this method of monitoring the health of aero engines.

Research on Output Characteristics of a Non-Contact Piezoelectric Actuator’s Micro-Displacement Amplifying Mechanism

A non-contact piezoelectric actuator is proposed. The non-contact power transfer between stator and rotor is realized by pneumatic transmission, characterized by fast response, long life, compact structure, and easy miniaturization and control. The structure of the non-contact piezoelectric actuator is designed and its working principle is elucidated. The equation of the relationship between the output displacements of the non-contact piezoelectric actuator’s micro-displacement amplifying mechanism and the input displacements of piezoelectric stack is deduced, and the simulation analysis method of output displacement of the micro-displacement amplifying mechanism is established. Using the equation and the simulation analysis, the output characteristics of micro-displacement amplifying mechanism for the non-contact piezoelectric actuator and their changes along with the system parameters are investigated. The detailed process of optimal design of the micro-displacement amplifying mechanism is given by means of mathematical statistics. The prototype is made and the performance test is carried out. The correctness of the theoretical calculation and simulation analysis is verified by comparing the experimental values with the theoretical and simulated values of the output displacement of the micro-displacement amplifying mechanism. The results show that the initial angle of bridge structure I has an obvious effect on the output characteristics of the micro-displacement amplifying mechanism in the range of 5°–15°. When the lever’s rod length is 13 mm–15 mm, the bridge structure II’s rod length is 6 mm–7 mm, and the power arm length of bridge structure I’s driving lever is 5 mm–7 mm, the bridge structure II’s rod horizontal projection length is 5 mm–6 mm and the output displacement of the micro-displacement amplifying mechanism is larger. Through the optimal design, it is obtained that the bridge structure I’s initial angle is 8°, the lever’s rod length is 15 mm, the bridge structure II’s rod length is 7 mm, and the power arm length of bridge structure I driving lever is 5 mm, the bridge structure II’s rod horizontal projection length is 6 mm, and the simulated output displacement of the micro-displacement amplifying mechanism is 0.1415 mm. The prototype test reveals that as the input excitation displacement decreases, the error increases, while as the input excitation displacement increases, the error decreases. Specifically, when the input excitation displacement is 0.005 mm, the measured output displacement of the micro-displacement amplifying mechanism is 0.1239 mm, resulting in a 19.8% deviation from the theoretical value and a 12.44% deviation from the simulated value. The research work in this paper enriches the research achievements of non-contact piezoelectric actuators, and also provides a reference for designing small structure and large travel micro-displacement amplifying mechanisms of this type of actuator.

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.

Research on DSP-based data model identification and triple-loop PID control of electro-hydraulic actuators

This paper focuses on the electro-hydraulic actuator of a certain type of aircraft, detailing the DSP-based hardware structure and principles. The study utilizes data acquisition and data model identification to establish a second-order model for the electro-hydraulic actuator. Verification sets and mean squared error (MSE) calculations, with an MSE value of 0.0110, indicate a reasonable identification model. Subsequently, a controller design structure is proposed based on the identified model. Finally, simulations validate the identified model and the triple-loop PID control. Experimental results show that the system's sine response output amplification factor is 0.9242.