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1 – 10 of 12
Article
Publication date: 16 September 2022

Chenyang Mao, Bo Zhou and Shifeng Xue

Piezoelectric materials are widely used as actuators, due to the advantages of quick response, high sensitivity and linear strain-electric field relationship. The previous work on…

Abstract

Purpose

Piezoelectric materials are widely used as actuators, due to the advantages of quick response, high sensitivity and linear strain-electric field relationship. The previous work on the piezoelectric material plate structures is not enough; however, such structures play a very important role in the practical design. In this paper, the actuation performance of piezoelectric laminated plate actuator (PLPA) is analyzed based on Galerkin method to parametric study the shape control.

Design/methodology/approach

In this paper, the actuation performance of PLPA is analyzed based on Galerkin method to parametric study the shape control. The stress components of the matrix plate are formulated based on electro-mechanical coupling theory and Kirchhoff's classical laminated plate theory. The effectiveness of the developed method is validated by the comparison with finite element method.

Findings

The actuation performance of PLPA and its influencing factors are numerically analyzed through the developed method. The deflection of PLPA is reasonably increased by optimizing the electric fields, the piezoelectric patch and the matrix plate.

Originality/value

The Galerkin method can be used for engineering applications more easily, and it does not require to rebuild the calculation model as finite element method during the calculation and analysis of PLPA. This paper is a valuable reference for the design and analysis of PLPAs.

Details

Multidiscipline Modeling in Materials and Structures, vol. 18 no. 5
Type: Research Article
ISSN: 1573-6105

Keywords

Article
Publication date: 28 May 2021

Bin Wang, Nanyue Xu, Pengyuan Wu and Rongfei Yang

The purpose of this paper is to provide a new hydrostatic actuator controlled by a piezoelectric piston pump and to reveal its characteristics.

Abstract

Purpose

The purpose of this paper is to provide a new hydrostatic actuator controlled by a piezoelectric piston pump and to reveal its characteristics.

Design/methodology/approach

In this paper, a piezoelectric pump with passive poppet valves and hydraulic displacement amplifier is designed as a new control component in a hydrostatic actuator for high actuation capacity. A component-level mathematical model is established to describe the system characteristics. Simulation verification for cases under typical conditions is implemented to evaluate the delivery behavior of the pump and the carrying ability of the actuator.

Findings

By using the displacement amplifier and the passive distributing valves, simulation demonstrates that the pump can deliver flow rate up to 3 L/min, and the actuator controlled by this pump can push an object weighing approximately 50 kg. In addition, it is particularly important to decide a proper amplification ratio of the amplifier in the pump for better actuation performance.

Originality/value

The piezoelectric pump presented in this paper has its potential to light hydrostatic actuator. The model constructed in this paper is valid for characteristic analysis and performance evaluation of this pump and actuators.

Details

Assembly Automation, vol. 41 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 19 October 2010

Ki Hoon Park, Bum Soo Yoon, Ngoc Trung Nguyen, Nam Seo Goo, Tae Sam Kang and Kwang Joon Yoon

The purpose of this paper is to develop lightweight actuators in order to replace conventional hydraulic/pneumatic actuators and to apply the actuation system to a small flying…

Abstract

Purpose

The purpose of this paper is to develop lightweight actuators in order to replace conventional hydraulic/pneumatic actuators and to apply the actuation system to a small flying vehicle.

Design/methodology/approach

A new type of control surface using a piezo‐composite actuator for a small flying vehicle has been designed and manufactured. The piezo‐composite actuator is composed of a piezoelectric ceramic layer, a carbon/epoxy layer and glass/epoxy layers. Through this, the miniaturization and weight reduction of the actuation systems for flying vehicle can be achieved. A simple model of the control surface has been manufactured and evaluated through experiments.

Findings

The performance test results showed that the developed actuator can produce stable angle of attack independent of the applied loading. A radio controller for the actuator was developed to control the motions wirelessly. It was found that the piezo‐composite actuator and its integrated controller system have a possibility to be used not only as a small flying vehicle but also as a control surface actuator of a small unmanned flying robot through the miniaturization of power supply and control system.

Originality/value

The paper describes the procedures of designing and manufacturing smart structure application of the piezo‐composite actuator with performance evaluation and comparison method. It is expected that piezo‐composite actuator can be used as a small flying vehicle control surface actuator through the miniaturization of power supply and control system with the use of the integrated radio controller MIPAD.

Details

Aircraft Engineering and Aerospace Technology, vol. 82 no. 6
Type: Research Article
ISSN: 0002-2667

Keywords

Article
Publication date: 22 August 2022

Manikandan Nachimuthu and Rajesh P.K.

This paper aims to provide a review of four-dimensional (4D) printing of shape memory polymers using inkjet printing technology. 4D printing refers to the three-dimensional (3D…

Abstract

Purpose

This paper aims to provide a review of four-dimensional (4D) printing of shape memory polymers using inkjet printing technology. 4D printing refers to the three-dimensional (3D) printing of smart materials capable of shape change or function modification with respect to time when activated by external stimuli. Inkjet printing has gained popularity because of the technical advantages such as non-contact deposition, multi-material printing, high resolution, high speed of printing and minimal post processing. This review will serve as a platform for understanding the inkjet 4D printing process and the shape memory capability of the polymer structures printed using inkjet printing.

Design/methodology/approach

The approach used in this review was to search for and review research works related to inkjet 4D printing of shape memory polymers. The search period was limited for the duration 2013 to 2021 as the 4D printing technology came into light later in 2013. With the review of inkjet 4D printing of shape memory polymers, the shape memory capability of the inkjet-printed structures were also studied.

Findings

With the available research documents, it was found that the inkjet 4D printing technology gained momentum from 2016, three years after the introduction of the 4D printing technology. The key findings of this review show that inkjet 4D printing of shape memory polymers were primarily performed using commercial inkjet printers and polymer inks linked to the printers. Even though the inkjet printing technology is matured enough to print multiple materials, development of shape memory polymer inks for inkjet printability remains complex. To realize the full potential of inkjet 4D printing, novel polymer inks specific for inkjet printing needs development.

Research limitations/implications

The major limitation to this review was the availability of research papers for review. Even though inkjet printing technology has grown to popularity in the graphics printing and publishing industry since its inception in the 19th century, the technology still needs to evolve in the printing of 3D structures due to the limitations in synthesizing inks that are inkjet printable. However, this research will serve as a platform for understating the current status of inkjet 4D printing and the limitations of the technology.

Originality/value

This review focuses only on the inkjet 4D printing of shape memory polymers among the generally summarized 4D printing review papers available. Currently, 4D printing of shape memory polymers is carried out using only the commercially available polymer printers. Also, researchers do not have the flexibility of modifying the polymer inks linked to the printers. This review can spur more research into the development of novel polymer inks specific for inkjet printing.

Details

Rapid Prototyping Journal, vol. 29 no. 3
Type: Research Article
ISSN: 1355-2546

Keywords

Article
Publication date: 25 October 2022

Kyle Engel, Paul Andrew Kilmartin and Olaf Diegel

The purpose of this study is to develop a additive manufacturing (AM) process for the fabrication of ionic polymer–metal composite (IPMC) devices with complex designs that would…

Abstract

Purpose

The purpose of this study is to develop a additive manufacturing (AM) process for the fabrication of ionic polymer–metal composite (IPMC) devices with complex designs that would be time-consuming to replicate using conventional manual methods. These IPMC devices have considerable potential in electroactive polymers (EAPs) and soft actuators.

Design/methodology/approach

This paper presents a novel three–dimensional (3D) AM technique to develop IPMCs. Digital light processing (DLP) fabrication of soft EAPs was undertaken using a vat-based AM method, followed by deposition of cost-effective outer silver electrodes.

Findings

DLP-fabricated devices were compared to conventional Nafion™-117 devices. DLP layer-by-layer fabrication of these devices allowed for good resolution for a range of printed objects. Electrical actuation of the DLP-produced IPMCs showed tip displacements of up to 3 mm, and greater actuation was seen in the presence of lithium rather than magnesium cations. The IMPCs showed good ion exchange capacities, while electrochemical analysis showed the reversible formation and removal of AgCl layers in addition to ion movement.

Practical implications

The AM of these devices allows for rapid prototyping as well as potential use in the development of multiple degrees of freedom actuators and devices.

Originality/value

An original resin formulation was developed for DLP 3D printing. This formula is chemically distinct from the conventional Nafion™-117 membranes that can be purchased. Additionally, this method allows for the manufacture of complex objects that would be difficult to machine by hand. These findings are of value to both the fields of polymer chemistry and AM.

Article
Publication date: 26 August 2021

Xu Li, Yixiao Fan, Haoyang Yu, Haitao Zhou, Haibo Feng and Yili Fu

The purpose of this paper is to propose a novel jump control method based on Two Mass Spring Damp Inverted Pendulum (TMS-DIP) model, which makes the third generation of hydraulic…

Abstract

Purpose

The purpose of this paper is to propose a novel jump control method based on Two Mass Spring Damp Inverted Pendulum (TMS-DIP) model, which makes the third generation of hydraulic driven wheel-legged robot prototype (WLR-3P) achieve stable jumping.

Design/methodology/approach

First, according to the configuration of the WLR, a TMS-DIP model is proposed to simplify the dynamic model of the robot. Then the jumping process is divided into four stages: thrust, ascent, descent and compression, and each stage is modeled and solved independently based on TMS-DIP model. Through WLR-3P kinematics, the trajectory of the upper and lower centroids of the TMS-DIP model can be mapped to the joint space of the robot. The corresponding control strategies are proposed for jumping height, landing buffer, jumping attitude and robotic balance, so as to realize the stable jump control of the WLR.

Findings

The TMS-DIP model proposed in this paper can simplify the WLR dynamic model and provide a simple and effective tool for the jumping trajectory planning of the robot. The proposed approach is suitable for hydraulic WLR jumping control. The performance of the proposed wheel-legged jump method was verified by experiments on WLR-3P.

Originality/value

This work provides an effective model (TMS-DIP) for the jump control of WLR-3P. The results showed that the number of landing shock (twice) and the pitch angle fluctuation range (0.44 rad) of center of mass of the jump control method based on TMS-DIP model are smaller than those based on spring-loaded inverted pendulum model. Therefore, the TMS-DIP model makes the jumping process of WLR more stable and gentler.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 24 November 2020

Sumin Helen Koo, Young Bin Lee, Changhwan Kim, Gibaek Kim, Giuk Lee and Je-Sung Koh

The purpose of this research was to develop clothing-typed soft wearable robot embedded with textile-based actuators on ankles for elderly adults needing gait assistance.

Abstract

Purpose

The purpose of this research was to develop clothing-typed soft wearable robot embedded with textile-based actuators on ankles for elderly adults needing gait assistance.

Design/methodology/approach

Design guidelines were developed and they included function (type, targeting area, routing line and anchor points), design (size/fit, fabric/material, fastener, detail, color) and actuator (shape memory alloy type, size, deformation type, integration material, integration technique and evaluation method). Fabric-based actuator, integration methods to fabrics, routing lines and anchoring points were developed based on the guidelines and evaluated. Then, three long socks types and a pants type were designed and prototyped. Routing line position displacement measurement test was conducted with the prototypes. A survey was conducted to investigate satisfaction, likeness and use intention on the design/prototype to modify the designs.

Findings

Important design factors were identified, and design guidelines for clothing-typed soft wearable robots (SWRs) were developed. People satisfied the developed SWR designs and prototypes with mean scores over 4.60.

Originality/value

The results are expected to be helpful for designers and developers of SWRs in the development process, and they will ultimately be beneficial to members of the elderly population who have gait difficulties.

Details

International Journal of Clothing Science and Technology, vol. 33 no. 4
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 25 June 2020

Yee Ling Yap, Swee Leong Sing and Wai Yee Yeong

Soft robotics is currently a rapidly growing new field of robotics whereby the robots are fundamentally soft and elastically deformable. Fabrication of soft robots is currently…

3723

Abstract

Purpose

Soft robotics is currently a rapidly growing new field of robotics whereby the robots are fundamentally soft and elastically deformable. Fabrication of soft robots is currently challenging and highly time- and labor-intensive. Recent advancements in three-dimensional (3D) printing of soft materials and multi-materials have become the key to enable direct manufacturing of soft robots with sophisticated designs and functions. Hence, this paper aims to review the current 3D printing processes and materials for soft robotics applications, as well as the potentials of 3D printing technologies on 3D printed soft robotics.

Design/methodology/approach

The paper reviews the polymer 3D printing techniques and materials that have been used for the development of soft robotics. Current challenges to adopting 3D printing for soft robotics are also discussed. Next, the potentials of 3D printing technologies and the future outlooks of 3D printed soft robotics are presented.

Findings

This paper reviews five different 3D printing techniques and commonly used materials. The advantages and disadvantages of each technique for the soft robotic application are evaluated. The typical designs and geometries used by each technique are also summarized. There is an increasing trend of printing shape memory polymers, as well as multiple materials simultaneously using direct ink writing and material jetting techniques to produce robotics with varying stiffness values that range from intrinsically soft and highly compliant to rigid polymers. Although the recent work is done is still limited to experimentation and prototyping of 3D printed soft robotics, additive manufacturing could ultimately be used for the end-use and production of soft robotics.

Originality/value

The paper provides the current trend of how 3D printing techniques and materials are used particularly in the soft robotics application. The potentials of 3D printing technology on the soft robotic applications and the future outlooks of 3D printed soft robotics are also presented.

Details

Rapid Prototyping Journal, vol. 26 no. 8
Type: Research Article
ISSN: 1355-2546

Keywords

Article
Publication date: 7 May 2019

Hanseung Woo and Kyoungchul Kong

Actuators for human-interactive robot systems require transparency and guaranteed safety. An actuation system is called transparent when it is able to generate an actuation force…

Abstract

Purpose

Actuators for human-interactive robot systems require transparency and guaranteed safety. An actuation system is called transparent when it is able to generate an actuation force as desired without any actuator dynamics. The requirements for the transparent actuation include high precision and large frequency bandwidth in actuation force generation, zero mechanical impedance and so on. In this paper, a compact rotary series elastic actuator (cRSEA) is designed considering the actuation transparency and the mechanical safety.

Design/methodology/approach

The mechanical parameters of a cRSEA are optimally selected for the controllability, the input and output torque transmissibility and the mechanical impedance by simulation study. A mechanical clutch that automatically disengages the transmission is devised such that the human is mechanically protected from an excessive actuation torque due to any possible controller malfunction or any external impact from a collision. The proposed cRSEA with a mechanical clutch is applied to develop a wearable robot for incomplete paraplegic patients. To verify torque tracking performance and disengagement of the mechanical clutch, experiments were conducted.

Findings

As the effects of the gear ratio, N1, on the four control performance indexes are conflicting, it should be carefully selected such that the controllability and the output torque transmissibility are maximized, while the disturbance torque transmissibility and the mechanical impedance are minimized. When the four control performance indexes were equally weighted, N1 was selected as 30. Experimental results showed that the designed cRSEA provided good control performances and the mechanical clutch worked properly.

Originality/value

It is important to design the actuator so as to maximize the control performance in accordance with its purpose. This paper presents the design guidelines for the SEA by introducing four control performance indexes and analyzing how the performance indexes vary according to the change of design parameter. From the viewpoint of practicality, a mechanical clutch design method that prevents excessive torque from being transmitted to the wearer and an analysis to solve the locking phenomenon when using a worm gear are presented, and a design method of SEA satisfying both control performance and practicality is presented.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 6 June 2023

Mehdi Ranjbar-Roeintan

This article focuses on the low-velocity impact (LVI) output of carbon nanotubes (CNTs)’ reinforcement circular plates, considering agglomeration size effect and clumping of CNTs’…

Abstract

Purpose

This article focuses on the low-velocity impact (LVI) output of carbon nanotubes (CNTs)’ reinforcement circular plates, considering agglomeration size effect and clumping of CNTs’ inner side of the agglomerations.

Design/methodology/approach

A representative volume element (RVE) is used to determine the nanocomposite properties reinforced with agglomerated CNTs with random orientation. First-order shear deformation theory (FSDT) is used to obtain the motion equations of LVI analysis. These equations are handled by developing a Ritz method and Lagrangian mechanics. To extract the mass and stiffness matrices, terms with second and higher degrees are ignored.

Findings

Formulation validation is performed by providing various examples, including comparisons with other research and ABAQUS FE code. The effects of agglomeration size, clumping of CNTs’ inner side of the agglomerations, CNT volume fraction and impact location on the responses of impact load, projectile displacement and plate deflection are analytically studied. These achievements illuminate how the influence of agglomeration size is very small on the impact response. Also, the influence of clumping of CNTs’ inner side of the agglomerations is significant, and as it increases, the displacement values and impact time increase, and the impact force decreases.

Originality/value

In this article, to avoid additional calculations, the parameters of the mass matrix and the stiffness coefficients are linearized to obtain the equations of motion of the impact on the circular plate.

Details

Multidiscipline Modeling in Materials and Structures, vol. 19 no. 5
Type: Research Article
ISSN: 1573-6105

Keywords

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