Mechanical Engineering Commons^™

Pulse Modulation In Braided Pneumatic Actuators Mimics Contractile Behavior Of Biological Muscles, Mohamad Elzein

Student Research Symposium

Advancements in robotics and bioengineering aim to emulate biological muscle systems through robotic actuators, blending mechanical strength with biological adaptability. A lesser-explored aspect is mimicking the pulse-like control characteristic of biological muscles, which contract in response to action potentials from motoneurons, with muscle contractile force relying heavily on the timing between these potentials. This study explores the effect of pulse lengths and the gaps between pulses on braided pneumatic actuators (BPAs), which mimic the nonlinearity and dynamic response of biological muscles. It hypothesizes that artificial muscles utilizing pulse-based control will exhibit a similar force dependency on the intervals between pulses …

Design And Control Of Modular Soft Robotic Actuators With Architected Structures, Nicholas Pagliocca

Theses and Dissertations

Soft robotic systems composed of highly compliant materials offer unparalleled advantages compared to rigid-body systems in applications such as fragile material handling and human-machine interactions. Often, their motions are prescribed by structural anisotropy and reinforcement materials to directionally limit motion. The continuum motion and non-linear material response intrinsic to soft robotics makes their design, modeling, and control a formidable challenge for engineers. Leveraging the deformation driven response of soft robotic actuators, highly versatile compliant architected structures whose local deformations dictate global material response can be integrated into soft robotic actuators for tunable mechanical responses. In this thesis, flexible center-symmetric perforated …

Open-Loop Control Of Electrostatic Levitation Actuators To Enhance The Travel-Range Of Optical Switches, Mohammad Mousavi, Mohammad Alzgool, Daniel Lopez, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

Command shaping is a driving technique for handling the large settling time of the high-Q-MEMS actuators. The strong nonlinearity due to the electrostatic actuation limits the linear operation range in cantilevered or torsional micro-mirrors where command shaping techniques can be applied for positioning. Experimental and simulation results of this research demonstrate the effectiveness of using electrostatic levitation to overcome the actuation nonlinearities and a significant increase in the operation range. The motivation for this research is that applying the nonlinear command shaping causes complexity in command manipulation and requires an accurate knowledge of the nonlinear terms involved in the system …

Advanced Mechatronics, Hao Su

Open Educational Resources

Project-based course on the design of mechatronic devices to address needs identified by hospital-based clinicians and industry. Students work in teams to develop a mechatronic prototype. The lectures will cover the design of medical devices and robotics including sensors, actuators, and robots. The students will communicate with customers to understand design needs, then conduct study on prior art, intellectual property, due diligence, and idea conceptualization. Students will present ideas in class and to a broad audience from local industry. Students will also write a publication-quality final report, which they will be encouraged for publication submission.

Engineering Design I, Hao Su

Open Educational Resources

Introduction to robotics

3d Printed Soft Robotic Hand, Zack Kisner, Chris Szigeti, David Leonardo

Mechanical Engineering Senior Theses

Soft robotics is an emerging industry, largely dominated by companies which hand mold their actuators. Our team set out to design an entirely 3D printed soft robotic hand, powered by a pneumatic control system which will prove both the capabilities of soft robots and those of 3D printing. Through research, computer aided design, finite element analysis, and experimental testing, a functioning actuator was created capable of a deflection of 2.17” at a maximum pressure input of 15 psi. The single actuator was expanded into a 4 finger gripper and the design was printed and assembled. The created prototype was ultimately …

Thermomechanical Modeling Of Polymerica Actuators, Qianxi Yang

LSU Doctoral Dissertations

In this dissertation, the application of smart polymers as actuators was investigated, with focuses on shape memory polymers and twisted-then-coiled artificial muscles. Thermomechanical models have been developed for various polymeric actuators, so as to facilitate interpretation of the underlying mechanisms and to provide guidance for future design. The classical one-way shape memory effect in amorphous shape memory polymers was first reproduced. The amorphous shape memory polymer was treated as a frozen-phase matrix with active-phase inclusions embedded in it. A phase evolution law was proposed from the physics perspective and the Mori-Tanaka approach was used to predict the effective mechanical properties. …

Ionic Electroactive Polymer Devices: Physics-Based Modeling With Experimental Investigation And Verification, Tyler Paul Stalbaum

UNLV Theses, Dissertations, Professional Papers, and Capstones

The primary focus of this study is to examine, understand, and model ionic electroactive polymer based systems in attempt to further develop this field of study. Physics-based modeling is utilized, as opposed to empirical modeling, to achieve a deeper insight to the underlying physics. The ionic electroactive polymer system of primary interest in this study is ionic polymer-metal composite (IPMC) devices. Other similar devices, such as anion-exchange membrane (AEM) type actuators and flow battery systems are also investigated using the developed model. The underlying physics are in the studies of transport phenomenon for describing the ionic flow within the polymer …

The Arched Flexure Vsa: A Compact Variable Stiffness Actuator With Large Stiffness Range, Joseph M. Schimmels, Daniel Garces

Mechanical Engineering Faculty Research and Publications

The high stiffness of conventional robots is beneficial in attaining highly accurate positioning in free space. High stiffness, however, limits a robot's ability to perform constrained manipulation. Because of the high stiffness, geometric conflict between the robot and task constraints during constrained manipulation can lead to excessive forces and task failure. Variable stiffness actuators can be used to adjust the stiffness of robot joints to allow high stiffness in unconstrained directions and low stiffness in constrained directions. Two important design criteria for variable stiffness actuation are a large range of stiffness and a compact size. A new design, the Arched …

Application Of Intelligent Sensors In The Integrated Systems Health Monitoring Of A Rocket Test Stand, Ajay Mahajan, Sanjeevi Chitikeshi, Lucas Utterback, Pavan Bandhil, Fernando Figueroa

Dr. Ajay Mahajan

This paper describes the application of intelligent sensors in the Integrated Systems Health Monitoring (ISHM) as applied to a rocket test stand. The development of intelligent sensors is attempted as an integrated system approach, i.e. one treats the sensors as a complete system with its own physical transducer, A/D converters, processing and storage capabilities, software drivers, self-assessment algorithms, communication protocols and evolutionary methodologies that allow them to get better with time. Under a project being undertaken at the NASA Stennis Space Center, an integrated framework is being developed for the intelligent monitoring of smart elements associated with the rocket tests …

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

Design And Analysis Of Hydrogen Powered Actuator Integrating Metal Hydride Storage System, Md Mainul Hossain Bhuiya

UNLV Theses, Dissertations, Professional Papers, and Capstones

The multi-fold purposes of this dissertation consists of construction, simulation and validation of a model describing hydrogen sorption kinetics in metal hydride. The project involves a comprehensive review of engineering applications involving metal hydrides and furthermore, design and investigation of a thermo-kinetically driven actuation system integrating metal hydrides for compact and soft robotic actuation. This will also shed some light on the feasibility of designing a damping system integrating metal hydride. Firstly, a mathematical model along with comprehensive simulation strategy of hydrogen absorption and desorption processes in porous metal hydride compacts was developed. A two dimensional axisymmetric model was built …

Finite Element Modeling And Fabrication Of An Sma-Smp Shape Memory Composite Actuator, Mohammad Souri

Theses and Dissertations--Mechanical Engineering

Shape memory alloys and polymers have been extensively researched recently because of their unique ability to recover large deformations. Shape memory polymers (SMPs) are able to recover large deformations compared to shape memory alloys (SMAs), although SMAs have higher strength and are able to generate more stress during recovery.

This project focuses on procedure for fabrication and Finite Element Modeling (FEM) of a shape memory composite actuator. First, SMP was characterized to reveal its mechanical properties. Specifically, glass transition temperature, the effects of temperature and strain rate on compressive response and recovery properties of shape memory polymer were studied. Then, …

Mems Lab Simulation Tool, Oluwatosin D. Adeosun, Sambit Palit, Ankit Jain, Muhammad A. Alam

The Summer Undergraduate Research Fellowship (SURF) Symposium

MEMS actuators have multiple design applications. Understanding their behavior as well as the ability to predict their actuation characteristics and voltage response is important when designing these actuators. In order to know these devices will behave, designers have to solve multiple analytical equations and experiments that can be very time consuming. Over the course of the summer a tool was created on nanoHUB that will allow users to enter information about a MEMS actuator and provide the voltage response of the actuator. To create the tool, scaling equations were first provided for various geometry configurations and the equations were next …

Transparent Actuator Made With Few Layer Graphene Electrode And Dielectric Elastomer, For Variable Focus Lens, Taeseon Hwang, Hyeok-Yong Kwon, Joon-Suk Oh, Jung-Pyo Hong, Seung-Chul Hong, Youngkwan Lee, Hyouk Ryeo Choi, Kwang J. Kim, Mainul Hossain Bhuiya, Jae Do Nam

Mechanical Engineering Faculty Research

A transparent dielectric elastomer actuator driven by few-layer-graphene (FLG) electrode was experimentally investigated. The electrodes were made of graphene, which was dispersed inN-methyl-pyrrolidone. The transparent actuator was fabricated from developed FLG electrodes.The FLG electrode with its sheet resistance of 0.45 kΩ/sq (80 nm thick) was implemented to mask silicone elastomer. The developed FLG-driven actuator exhibited an optical transparency of over 57% at a wavenumber of 600 nm and produced bending displacement performance ranging from 29 to 946 μm as functions of frequency and voltage. The focus variation was clearly demonstrated under actuation to study its application-feasibility in …

Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta

UNLV Theses, Dissertations, Professional Papers, and Capstones

The goal of this research is to model and control the underwater vehicle propelled by IPMC actuator. IPMC consists of an ionic membrane sandwiched between two metallic electrodes. When an external voltage is applied, IPMC undergoes large deformation due to transport of ions. Due to its ability to work in aqueous environments, it can be used for developing small scale underwater vehicles.

First, Finite element approach is used to describe the dynamics of the both single and segmented IPMC actuator. In the approach presented, each element is attached with a local coordinate system that undergoes rigid body motion along with …

Thrust-Vector Control, Dane Larkin, Harsimran Singh

Mechanical Engineering

Mission Statement

The purpose of this project is to design, build, and test a thrust-vectoring rocket nozzle which will aid in controlling the trajectory of a solid-booster rocket. The system prototype must meet the requirements set forth by the sponsoring enterprise.

The Enterprise

Stellar Exploration is a small space systems technology company located in San Luis Obispo, CA. Stellar Exploration is currently seeking a thrust-vectoring system for its Silver Sword rocket.

Project Scope

The design and analysis portion of this project accounted for a system that would be mounted on to a rocket for operational flight. Therefore, this team has …

Application Of Active Magnetic Force Actuator For Control Of Flexible Rotor System Vibrations, Volodymyr Mykhaylyshyn

ETD Archive

The purpose of this work was to develop and experimentally demonstrate a novel approach to minimize lateral vibrations of flexible rotor. The applied feed forward control approach employed magnetic force actuator to inject a specially designed force to counteract the rotor unbalance force. By specific selection of frequency and phase as functions of the rotor running speed and rotor natural frequency, the proposed simplified injection waveform has been shown to be effective both in reducing the rotor's vibrations and for hardware implementation. A model of the test rig was constructed using the finite element (FE) method and was validated using …

Uncertainty Quantification Integrated To Cfd Modeling Of Synthetic Jet Actuators, Srikanth Adya, Daoru Frank Han, Serhat Hosder

Mechanical and Aerospace Engineering Faculty Research & Creative Works

The Point-Collocation Non-intrusive Polynomial Chaos (NIPC) method has been applied to a stochastic synthetic jet actuator problem used as one of the test cases in the CFDVAL2004 workshop to demonstrate the integration of computationally efficient uncertainty quantification to the high-fidelity CFD modeling of synthetic jet actuators. The test case included the simulation of an actuator generating a synthetic jet issued into quiescent air. The Point-Collocation NIPC method is used to quantify the uncertainty in the long-time averaged u and v-velocities at several locations in the flow field due to the uniformly distributed uncertainty introduced in the amplitude and frequency of …

Design And Validation Of A General Purpose Robotic Testing System For Musculoskeletal Applications, Lawrence D. Noble, Robb W. Colbrunn, Dong-Gil Lee, Antonie J. Van Den Bogert, Brian L. Davis

Mechanical Engineering Faculty Publications

Orthopaedic research on in vitro forces applied to bones, tendons, and ligaments during joint loading has been difficult to perform because of limitations with existing robotic simulators in applying full-physiological loading to the joint under investigation in real time. The objectives of the current work are as follows: (1) describe the design of a musculoskeletal simulator developed to support in vitro testing of cadaveric joint systems, (2) provide component and system-level validation results, and (3) demonstrate the simulator’s usefulness for specific applications of the foot-ankle complex and knee. The musculoskeletal simulator allows researchers to simulate a variety of loading conditions …

Non-Collocation Problems In Dynamics And Control Of Mechanical Systems, Timothy M. Obrzut

ETD Archive

Characteristics of mechanical systems with non-collocated sensors and actuators are investigated. Transfer function zeros location as a function of sensor position, zero-pole interlacing, and re-location of zeros are discussed in a context of presented examples. Some of the presented examples involving non-collocation are supported by experimental data. A case study involving a high speed machining spindle is examined. The control problems associated with non-collocation are studied along with the methods to solve them

System Design And Integration For Repeated Impact Tests, Cheng Lin, Gene Hou, Sebastian Bawab, Timothy Coats, Hesham Nassar

Engineering Technology Faculty Publications

The design and integration of an impact-testing machine is particularly for the test of an object which is repeatedly dropped down from a specified height. Four linear actuators with two on each of the two magnetic rails are used to lift up an object weighing up to 70 lbs. Each actuator is powered and controlled by an industrial amplifier. A Programmable Logical Controller (PLC) is applied to activate these four actuators simultaneously and repeatedly. Accelerometers using an National Instruments (NI) data acquisition system are used to measure the impact force during the tests. Students gain design and implementation experiences from …

Alleviation Of Buffet-Induced Vibration Using Piezoelectric Actuators, Shawn D. Morganstern

Theses and Dissertations

Buffet-induced vibration has been problematic for aircraft structures for many years. The F-16 ventral fin, while prone to these effects, lends itself well to the evaluation of modern active structural and flow control technologies. The objective of this research was to determine the most critical natural modes of vibration for the F-16 ventral fin and design piezoelectric actuators capable of reducing buffet-induced ventral fin vibration. A finite element model (FEM) for the fin was developed, tuned and optimized to closely match published modal frequencies. Piezoelectric actuator patches were designed using the strain characteristics of the FEM and integrated into the …

Optimal Control Of A Class Of One-Dimensional Nonlinear Distributed Parameter Systems With Discrete Actuators, Radhakant Padhi, S. N. Balakrishnan

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Combining the principles of dynamic inversion and optimization theory, a new approach is presented for stable control of a class of one-dimensional nonlinear distributed parameter systems with a finite number of actuators in the spatial domain. Unlike the existing ''approximate-then-design'' and ''design-then-approximate'' techniques, this approach does not use any approximation either of the system dynamics or of the resulting controller. The formulation has more practical significance because one can implement a set of discrete controllers with relative ease. To demonstrate the potential of the proposed technique, a real-life temperature control problem for a heat transfer application is solved through simulations. …

Optimal Design Of Low Order Controllers Satisfying Sensitivity And Robustness Constraint, Mark L. Nagurka, O. Yaniv

Mechanical Engineering Faculty Research and Publications

The set of all stabilizing controllers of a given low order structure that guarantee specifications on the gain margin, phase margin and a bound on the sensitivity corresponds to a region in n-dimensional space defined by the coefficients of the controllers. For several practical criteria defined in the paper it is shown that the optimal controller lies on the surface of that region. Moreover, it is shown how to reduce that region to avoid actuator saturation during operation.

Demonstrating Optothermal Actuators For An Autonomous Mems Microrobot, Francis R. Szabo

Theses and Dissertations

There are numerous applications for microrobots which are beneficial to the Air Force. However, the microrobotics field is still in its infancy, and will require extensive basic research before these applications can be fielded. The biggest hurdle to be solved, in order to create autonomous microrobots, is generating power for their actuator engines. Most present actuators require orders of magnitude more power than is presently available from micropower sources. To enable smaller microrobots, this research proposed a simplified power concept that eliminates the need for on-board power supplies and control circuitry by using actuators powered wirelessly from the environment. This …

Mechanical Computing In Microelectromechanical Systems (Mems), Kenneth C. Bradley

Theses and Dissertations

Mechanical computing devices in polysilicon-based microelectromechanical systems (MEMS) were designed with the goal of developing computing devices for harsh environments, such as those with high dose radiation and high temperatures, as well as devices that may be able to interface with molecular or biological computer systems. The devices that were designed include both analog and digital computing devices. The analog devices include integrators, differentials (summers), multipliers, and those that perform trigonometric functions. The digital devices that were designed are inverters, NAND, NOR, and XOR logic gates. Analog-to-digital (A-to-D) and digital-to-analog (D-to-A) converters were also designed. The designs were submitted to …

Active Vibration Suppression Of Smart Structures Using Piezoelectric Shear Actuators, Brian P. Baillargeon

Electronic Theses and Dissertations

Active vibration damping using piezoelectric materials integrated with structural systems has found widespread use in engineering applications. Current vibration suppression systems usually consist of piezoelectric extension actuators bonded to the surface or embedded within the structure. The use of piezoelectric shear actuators/sensors has been proposed as an alternative, where the electric field is applied perpendicular to the direction of polarization to cause shear deformation of the material. We present an exact analysis and active vibration suppression of laminated composite plates and cylindrical shells with embedded piezoelectric shear actuators and sensors. Suitable displacement and electric potential fknctions are utilized to identically …

Modeling Aspects Of Magnetic Actuators And Magnetic Suspension Systems, V. Dale Bloodgood Jr.

Mechanical & Aerospace Engineering Theses & Dissertations

This dissertation is a study of new modeling techniques developed for magnetic suspension systems. The techniques discussed are modifications of magnetic circuit theory and fundamental eddy current models. The techniques are compared against experimental test results and finite element data. The information gained from the experimental testing is used to provide insight into magnetic bearing design.

A small-gap modeling technique called extended circuit theory is developed that incorporates information about the system gained from finite element data, or experimental data, to be included in the analytic model. The variations between the classical magnetic circuit model and the finite element model …

Electro-Mechanical Fatigue Behavior Of A Quasi-Isotropic Laminate With An Embedded Piezoelectric Actuator, Tse Lin Hsu

Theses and Dissertations

This study primarily investigated the electro-mechanical fatigue behavior of the embedded piezoelectric actuators in graphite/epoxy laminate with a lay-up of 0 | ± 45 | 90s. A secondary focus was the investigation of the mechanical fatigue effects of the 0 | 0 | ± 45 | 0 | 0 | 90s laminate with embedded PZT under tensile loading. All the fatigue tests were conducted with a triangular loading waveform which had a frequency of 10 Hz and with R=0. 1. In the electro-mechanical testing, the embedded actuator was excited by a -10 V to -100 V or a 10 V …