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Thursday, November 12, 2020 | History

1 edition of Conceptual design and analysis of a novel actuator found in the catalog.

Conceptual design and analysis of a novel actuator

John David Ingram

Conceptual design and analysis of a novel actuator

  • 282 Want to read
  • 4 Currently reading

Published by Naval Postgraduate School, Available from National Technical Information Service in Monterey, Calif, Springfield, Va .
Written in English

    Subjects:
  • ROBOTICS

  • About the Edition

    Conventional robotic actuators which motive power for manipulators have been commonly limited to three basic types: electric, pneumatic and hydraulic. Each type has advantages and limitations which have dictated their respective suitability for specific applications. However, new manipulator functions may require such qualities as stiffness, high speed, low weight, low inertia, high power output, reversibility, and accurate positioning, which are not usually mutually compatible within an actuator type. With the increased use of robots in industry and the military, new robot-specific actuators will be developed to better meet functional requirements. One concept to be considered is a stiff pneumatic-hydraulic actuator for mobile anthropomorphic robot application. This paper explores the conceptual design feasibility of such an actuator system, and presents a first order system analysis of key parts. (JES)

    Edition Notes

    Other titlesNPS-69-88-011.
    Statementby J.D. Ingram, H.R. Everett, D.L. Smith, J. McDonnel
    ContributionsEverett, Hobart R., Smith, David L., McDonnel, J., Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
    The Physical Object
    Pagination37 p. :
    Number of Pages37
    ID Numbers
    Open LibraryOL25494842M

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Conceptual design and analysis of a novel actuator by John David Ingram Download PDF EPUB FB2

Concept,hereafterknownasthenovelactuator,beganby envisioningtheactuatoras a subsystem of a mobileoperational manipulator,and developing a setofoperational requirements for. The supply of freshwater has become a worldwide interest, due to serious water shortages in many countries.

Due to rapid increases in the population, poor water management, and limitations of freshwater resources, Egypt is currently below the water scarcity limit. Since Egypt has approximately km of coastlines on both the Red Sea and the Mediterranean Sea, seawater desalination powered by Cited by: 1.

This paper proposes a novel actuator design that modulates stiffness by means of a flexible beam. A motorized drive system Conceptual design and analysis of a novel actuator book the active length of the Author: Erivelton Gualter dos Santos, Hanz Richter. Design and analysis of a novel compact compliant actuator with variable impedance Abstract: Compliant Actuators are desirable for human friendly robotics, especially for assistive and rehabilitation robots that have direct physical interaction with human users.

This paper proposes a novel actuator design that modulates stiffness by means of a flexible beam. A motorized drive system varies the active length of the cantilever beam, thus achieving stiffness. This paper presents the design principles of a novel 3 degrees of freedom linear magnetic actuator which increases the damping and static stiffness of flexible structures during machining.

The proposed actuator can deliver N force in two radial (x, y) directions and 34 N×m (torque) in torsional (θ) direction up to Hz. The force and torque reduces to N and N×m at. actuator, and study the behavior of the actuator when parameters such as ac- tivation level (input current) and applied load vary.

The experimental results are in good agreement with the results obtained from mathematical models. The non-Linear damping characteristic of the designed actuator wao ana- lyzed in detail because it is the most important characteristic in the context.

Our novel actuator design consists of a servomotor with a rotary encoder, one torsional spring assembly with another rotary encoder, a pair of spur gear with appropriate gear ratio to transmit the motion to the ball screw which converts the rotary motion of the shaft to linear motion of the nut, a set of linear springs attached to the ball screw nut to transmit the force to a carriage which has a force.

Adaptive compensation of actuator nonlinearities End-of-chapter discussion, problems, and advanced topics As either a textbook or reference, this self-contained tutorial of adaptive control design and analysis is ideal for practicing engineers, researchers, and graduate students alike.

Design engineers can jump off from the point of given parameters and requirements – required performance, payloads and other factors.

This is the first book for the aeronautical designer devoted to guiding the reader through this highly effective conceptual design synthesis process. Books at Amazon. The Books homepage helps you explore Earth's Biggest Bookstore without ever leaving the comfort of your couch. Here you'll find current best sellers in books, new releases in books, deals in books, Kindle eBooks, Audible audiobooks, and so much more.

The book concludes with chapters on commercially available pressure sensors, accelerometers and resonant sensors in which the above principles are applied.

Everybody, involved in designing silicon-based mechanical sensors, will find a wealth of useful information in the book, assisting the designer in obtaining highly optimized devices. Authored by a team of acknowledged experts, this book presents a multidisciplinary view of the state of the art in the field of actuators.

The goal of the book is to provide a comprehensive. THE INTRODUCTION AND ANALYSIS OF A NOVEL SOFT ACTUATOR FOR A SOFT CONTINUUM ROBOT ARM A DISSERTATION Presented in partial fulfillment of the requirement for the Master of Science in mechanical engineering in the Swenson college of science and engineering By Zahra Sadat Navabi Ghamsari Advisor Dr.

Debao Zhou University of Minnesota Duluth July Report on evaluation of novel actuation systems for shaking table, Pseudo-dynamic or field testing .pdf, Mb) This report presents studies into novel forms of actuation technology, aimed at enhancing the responsiveness and controllability of actuators, particularly to.

The authors describe the analysis, design and control of a novel actuator with a spherical permanent-magnet rotor and a simple stator winding and position-sensing arrangement.

It is capable of two degrees of freedom, and has a high specific torque. Expressions for the magnetic field distribution and the torque vector and back-EMF constants are derived analytically, and optimal design. This book has been assembled from the abstract sources submitted by the con-tributing authors via theIndicoconference management platform.

Layout, editing, and typesetting of the book, including customized TEX & LATEX macros, was done by Dr. Knowles, LogrusData, Vienna, Austria. This article presents a bending actuator using SMA strips. An analysis model and a design model of the SMA strip actuator are developed to predict output performances and provide guidance to designers.

The experiments are conducted to verify the proposed models. We then apply this actuator to a soft robotic hand with five fingers. In this paper, we present a novel design for single-rod hydrostatic actuators that produces a stable response in all operation quadrants.

The new design, which can have different embodiments, is built upon compensating for the differential flows coming in and out of single-rod actuators, by alternately connecting cap and rod sides of the cylinder to a flow source in accordance with the energy.

In general, actuators are built to be as stiff as possible to increase the bandwidth. When a robot works in a structured environment, its automation is easier than in a non-structured environment in which case its modeling is quite difficult and presents a high computational effort.

To overcome this difficulty, series elastic actuator (SEA) has been applied in compliant robotic grasping. Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model. H Aa Madsen, U S Paulsen 1 and L Vitae 1.

Published under licence by IOP Publishing Ltd Journal of Physics: Conference Series, VolumeThe Science of Making Torque from. Abstract. This paper presents a novel hydrostatic actuator, which is named as linear-driven electro-hydrostatic actuator (LEHA).

In an LEHA, the actuator is driven by a novel collaborative rectification pump (CRP), which incorporates two miniature cylinders and two spool valves.

Specifically, the CRP is driven by two linear oscillating motors, which are designed and optimized to generate. Search the world's most comprehensive index of full-text books. My library. In this paper, a novel variable stiffness mechanism is proposed for the design of a variable stiffness dielectric elastomer actuator (VSDEA) which combines a flexible strip with a DEA in a dielectric elastomer minimum energy structure.

Agarwal et al. () Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices Moseley et al. () Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method Sonar et al.

() Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback Paez et al. () Design and Analysis of a Soft Pneumatic Actuator with. The design concept, finite element analysis (FEA) results, fabrication procedures and the performance of the 2 DOF nanopositioner is presented.

In order to test the nanopositioner moving platform decoupled motion, one actuator moves the platform by 60 µm, while the other actuator is kept at the same position. The solenoid actuators provide motion exciting a magnetic field where a plunger (movable part) tries to minimize the reluctance (i.e.

the air gap) moving to the less reluctance position. A typical geometry is shown in Figure Page 99 Chapter 8: Valve Design Chapter 8: Valve Design Objectives The objectives for this chapter are as follows: • Introduce the concept of summation of forces, needed in valve design • Learn what the actuator force, the spring force, the Bernoulli (flow) force, and the two friction forces are.

Design, analysis, and control of a novel linear actuator A design methodology is presented, which is based upon the finite-element method magnetic-circuit analysis, and a simulation software for performance predictions.

The latter is developed in a VisSim environment. For design optimization, a new criteria are introduced.

Series elastic actuation adds additional actuators and increases system complexity and inertia. We believed a better option existed. In the end, we developed a novel actuator, optimal in many applications. Goals. The actuator design method seeks to give us the ideal actuator for a.

In this paper, a conceptual design of the two iterations of compliant actuators used within BioMot project, as well as the control strategy used to operate these actuators, is presented.

The type of materials you propose can be used to form the foundation of a design concept by utilising their properties in terms of their type, size and limitations. For example a two story building, may have a stone or masonry base, and then a lighter material could be used to form the second floor, say timber.

In this research, a novel pneumatic soft actuator for continuum robot arm has been designed, partially modeled and manufactured. The actuator is consisting of a single tube made of silicone rubber, some elastic rings around the tube that partially divide the tube into different sections and shape-memory alloy (SMA) springs that connects the rings to each other.

Gomis-Bellmunt O, Galceran-Arellano S, Sudrià-Andreu A, Montesinos-Miracle D, Campanile LF () Linear electromagnetic actuator modeling for optimization of mechatronic and adaptronic systems. Mechatronics – CrossRef Google Scholar.

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Books for your passion." are registered trademarks with the Registered US. Singh, C. Xiao, G. Krishnan, and E. Hsiao-Wecksler, “Design and Analysis of Soft Pneumatic Sleeve for Arm Orthosis,” in ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference,p.

V05AT07AV05AT07A Novel Compliant Actuator for Wearable Robotics Applications Conf Proc IEEE Eng Med Biol Soc.

; doi: /EMBC Authors M Claros, R Soto Equipment Design Humans Joints Man-Machine Systems Movement. Class Diagrams for Database Design 37 Example from the Music Industry 43 Activity Diagrams 46 Activity Diagram Notation Description 46 Activity Diagrams for Workflow 48 Rules of Thumb for UML Usage 50 Summary 51 Literature Summary 51 Chapter 4 Requirements Analysis and Conceptual Data Modeling 53.

T1 - A novel selective compliant actuator. AU - Sugar, Thomas G. PY - /11/1. Y1 - /11/1. N2 - A novel design for a selective compliant actuator is described that can easily control the external force or stiffness applied to an object. Our design solution consists of a spring attached in series to a linear actuator driven by a DC servomotor.Clearly then, the appropriate use of "sensor" or "actuator" is not based on physics but instead on the intent of the application.

3 Classifying the signal domains in the manner shown in Tablewhile not precise, demonstrates that understanding the physics of the application is vital to selecting the appropriate sensor scheme, materials, and.Torque modeling and analysis of spherical actuators with iron stator.

"Design concept development of a spherical stepper for robotic applications," IEEE Transactions on Robotics and "Analysis, design and control of a novel spherical permanent-magnet actuator," IEE Proceedings: Electric Power Applications, vol.no.

1, pp.