Design and application of a cellular, piezoelectric, artificial muscle actuator for biorobotic systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 219-227).One of the foremost challenges in robotics is the development of muscle-like actuators that have the capability to reproduce the smooth motions observed in animals. Biological muscles have a unique cellular structure that departs from traditional electromechanical actuators in several ways. A muscle consists of a vast number of muscle fibers and, more fundamentally, sarcomeres that act as cellular units or building blocks. A muscle's output force and displacement are the aggregate effect of the individual building blocks. Thus, without using gearing or transmissions, muscles can be tailored to a range of loads, satisfying specific force and displacement requirements. These natural actuators are desirable for biorobotic applications, but many of their characteristics have been difficult to reproduce artificially. This thesis develops and applies a new artificial muscle actuator based on piezoelectric technology. The essential approach is to use a subdivided, cellular architecture inspired by natural muscle. The primary contributions of this work stem from three sequential aims. The first aim is to develop the operating principles and design of the actuator cellular units. The basic operating principle of the actuator involves nested flexural amplifiers applied to piezoelectric stacks thereby creating an output length strain commensurate with natural muscle. The second aim is to further improve performance of the actuator design by imparting tunable stiffness and resonance capabilities. This work demonstrates a previously unavailable level of tunability in both stiffness and resonance. The final aim is to showcase the capabilities of the actuator design by developing an underwater biorobotic fish system that utilizes the actuators for resonance-based locomotion. Each aspect of this thesis is supported by rigorous analysis and functional prototypes that augment broadly applicable design concepts.by Thomas William Secord.Ph.D

MEMS Technologies for Energy Harvesting

The objective of this chapter is to introduce the technology of Microelectromechanical Systems, MEMS, and their application to emerging energy harvesting devices. The chapter begins with a general introduction to the most common MEMS fabrication processes. This is followed with a survey of design mechanisms implemented in MEMS energy harvesters to provide nonlinear mechanical actuations. Mechanisms to produce bistable potential will be studied, such as introducing fixed magnets, buckling of beams or using slightly slanted clamped-clamped beams. Other nonlinear mechanisms are studied such as impact energy transfer, or the design of nonlinear springs. Finally, due to their importance in the field of MEMS and their application to energy harvesters, an introduction to actuation using piezoelectric materials is given. Examples of energy harvesters found in the literature using this actuation principle are also presented

Integration of Bulk Piezoelectric Materials into Microsystems.

Bulk piezoelectric ceramics, compared to deposited piezoelectric thin-films, provide greater electromechanical coupling and charge capacity, which are highly desirable in many MEMS applications. In this thesis, a technology platform is developed for wafer-level integration of bulk piezoelectric substrates on silicon, with a final film thickness of 5-100μm. The characterized processes include reliable low-temperature (200˚C) AuIn diffusion bonding and parylene bonding of bulk-PZT on silicon, wafer-level lapping of bulk-PZT with high-uniformity (±0.5μm), and low-damage micro-machining of PZT films via dicing-saw patterning, laser ablation, and wet-etching. Preservation of ferroelectric and piezoelectric properties is confirmed with hysteresis and piezo-response measurements. The introduced technology offers higher material quality and unique advantages in fabrication flexibility over existing piezoelectric film deposition methods. In order to confirm the preserved bulk properties in the final film, diaphragm and cantilever beam actuators operating in the transverse-mode are designed, fabricated and tested. The diaphragm structure and electrode shapes/sizes are optimized for maximum deflection through finite-element simulations. During tests of fabricated devices, greater than 12μmPP displacement is obtained by actuation of a 1mm2 diaphragm at 111kHz with <7mW power consumption. The close match between test data and simulation results suggests that the piezoelectric properties of bulk-PZT5A are mostly preserved without any necessity of repolarization. Three generations of resonant vibration energy harvesters are designed, simulated and fabricated to demonstrate the competitive performance of the new fabrication process over traditional piezoelectric deposition systems. An unpackaged PZT/Si unimorph harvester with 27mm3 active device volume produces up to 205μW at 1.5g/154Hz. The prototypes have achieved the highest figure-of-merits (normalized-power-density × bandwidth) amongst previously reported inertial energy harvesters. The fabricated energy harvester is utilized to create an autonomous energy generation platform in 0.3cm3 by system-level integration of a 50-80% efficient power management IC, which incorporates a supply-independent bias circuitry, an active diode for low-dropout rectification, a bias-flip system for higher efficiency, and a trickle battery charger. The overall system does not require a pre-charged battery, and has power consumption of <1μW in active-mode (measured) and <5pA in sleep-mode (simulated). Under 1g vibration at 155Hz, a 70mF ultra-capacitor is charged from 0V to 1.85V in 50 minutes.Ph.D.Electrical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91479/1/aktakka_3.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/91479/2/aktakka_2.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/91479/3/aktakka_1.pd

Piezoelectric energy harvesting from low frequency and random excitation using frequency up-conversion

The field of energy harvesting comprises all methods to produce energy locally and from surrounding sources, e.g. solar illumination, thermal gradients, vibration, radio frequency, etc. The focus of this thesis is on inertial power generation from host motion, in particular for low frequency and random excitation sources such as the human body. Under such excitation, the kinetic energy available to be converted into electrical energy is small and conversion efficiency is of utmost importance. Broadband harvesting based on frequency tuning or on non-linear vibrations is a possible strategy to overcome this challenge. The technique of frequency up-conversion, where the low frequency excitation is converted to a higher frequency that is optimal for the operation of the transducer is especially promising. Regardless of the source excitation, energy is converted more efficiently. After a general introduction to the research area, two different prototypes based on this latter principle and using piezoelectric bending beams as transducers are presented, one linear design and one rotational. Especially for human motion, the advantages of rotational designs are discussed. Furthermore, magnetic coupling is used to prevent impact on the brittle piezoceramic material when actuating. A mathematical model, combining the magnetic interaction forces and the constitutive mechanical and electrical equations for the piezoelectric bending beam is introduced and the results are provided. Theoretical findings are supported by experimental measurements and the calculation model is validated. The outcome is the successful demonstration of a rotational energy harvester, tested on a custom made shaking set-up and in the real world when worn on the upper arm during running.Open Acces

National MEMS Technology Roadmap - Markets, Applications and Devices

MEMS teknologiaa on jo pitkään käytetty lukuisien eri laitteiden valmistamiseen. Osa näistä laitteista on ollut markkinoilla jo useita vuosia, kun taas osa on vasta kehitysvaiheessa. Jotta tutkimus ja kehitystyötä osattaisiin jatkossa kohdistaa oikeille painopistealueille, on tärkeää tietää mihin suuntaan kehitys on menossa. Tämä työ on osa kansallista MEMS teknologioiden tiekartta -projektia ja sen tavoitteena oli selvittää MEMS laitteiden kehityksen suuntaa. Työ toteutettiin laajana kirjallisuustutkimuksena. Lisäksi tulosten tueksi haastateltiin asiantuntijoita Suomen MEMS teollisuudesta. Työssä tarkasteltiin lukuisia jo markkinoilta löytyviä ja vasta kehitteillä olevia MEMS laitteita ja analysoitiin niitä sekä teknisestä että kaupallisesta näkökulmasta. Tutkimuksen perusteella kävi ilmi, että MEMS markkinat ovat pitkään muodostuneet vakiintuneista laitteista kuten mustesuihkupäistä, kiihtyvyysantureista, paineantureista sekä RF suotimista. Lisäksi mikrofonit, gyroskoopit ja optiset laitteet ovat olleet kaupallisesti saatavilla jo pitkään. Markkinat ovat hiljattain alkaneet tehdä tilaa myös uusille MEMS laitteille, joita tulee ulos nopeaa vauhtia. Viimeisimpänä markkinoille tulleita laitteita ovat erilaiset mikrofluidistiikka laitteet, mikrobolometrit sekä yhdistelmäanturit. Pian kaupallisesti saatavia laitteita ovat magnetometrit, automaattitarkennuslaitteet sekä MEMS oskillaattorit. Näiden laitteiden lisäksi kehitteillä on monia uusia MEMS laitteita, jotka saattavat tarjota merkittäviä mahdollisuuksia tulevaisuudessa. Kehitteillä olevia laitteita ovat erilaiset lääketieteelliset laitteet, atomikellot, mikrojäähdyttimet, mikrokaiuttimet, energiantuottolaitteet sekä RFID-laitteet. Kaikki kehitteillä olevista laitteista eivät välttämättä tule menestymään kaupallisesti, mutta jatkuva tutkimustyö osoittaa, että monilla MEMS laitteilla on potentiaalia useissa eri sovelluksissa. Markkinanäkökulmasta tarkasteltuna suurin potentiaali piilee kuluttajaelektroniikka markkinoilla. Muita tulevaisuuden kannalta potentiaalisia markkinoita ovat lääketieteelliset ja teollisuusmarkkinat. Tutkimus osoitti että MEMS laitteiden tutkimukseen ja kehitykseen liittyy monia potentiaalisia painopistealueita tulevaisuudessa. Käyttömahdollisuuksien parantamiseksi monet jo vakiintuneet laitteet kaipaavat vielä parannuksia. Toisaalta, jo olemassa olevia laitteita voidaan hyödyntää uusissa sovelluksissa. Lisäksi monet uusista ja kehitteillä olevista MEMS laitteista vaativat vielä kehitystyötä.MEMS technology has long been applied to the fabrication of various devices from which some have already been in use for several years, whereas others are still under development. In order to find future focus areas in research and development activities in the industry, it is important to know where the development is going. This thesis was conducted as a part of National MEMS technology roadmap, and it aimed for determining the evolution of MEMS devices. The work was conducted as an extensive literature review. In addition, experts from the Finnish MEMS industry were interviewed in order obtain a broader insight to the results. In this thesis various existing and emerging MEMS devices were reviewed and analyzed from technological and commercial perspectives. The study showed that the MEMS market has long been composed of established devices, such as inkjet print-heads, pressure sensors, accelerometers and RF filters. Also gyroscopes, microphones and optical MEMS devices have already been on the market for a long time. Lately, many new devices have started to find their place in the markets. The most recently introduced commercial devices include microfluidic devices, micro bolometers, and combo sensors. There are also a few devices including magnetometers, MEMS oscillators, and auto-focus devices that are currently crossing the gap from R&D to commercialization. In addition to the already available devices, many new MEMS devices are under development, and might offer significant opportunities in the future. These emerging devices include various bioMEMS devices, atomic clocks, micro-coolers, micro speakers, power MEMS devices, and RFID devices. All of the emerging devices might not find commercial success, but the constant stream shows, that there are numerous applications, where MEMS devices could be applied in. From a market point of view, the greatest potential in the future lies in consumer electronics market. Other highly potential markets include medical and industrial markets. The results of the thesis indicate that there are many potential focus areas in the future related to MEMS devices, including improvements of the existing devices in order to gain better utilization, application of the existing devices in new areas, and development work among the emerging devices

MEMS devices for the control of trapped atomic particles

This thesis presents the design and characterisation of novel MEMS scanners, for use in systems involving trapped atomic particles. The scanners are manufactured using multiuser silicon-on-insulator MEMS fabrication processes and use resonant piezoelectric actuation based on aluminium nitride thin films to produce one dimensional scanning at high frequencies, with resonance tuning capabilities of up to 5 kHz. Frequencies of ~100kHz and higher are required to enable for example resonant addressing of trapped atomic particles. This work demonstrates how the 200 μm and 400 μm diameter scanners can produce optical deflection angles upwards of 2° at frequencies from 80 kHz to 400 kHz. It proposes an addressing scheme based on Lissajous scanning to steer laser pulses onto 2D grids at a scale compatible with experiments involving single trapped atoms. It also examines frequency tuning capabilities of the scanners using localized on-chip Joule heating and active cooling ; frequency tuning and synchronization are shown to be critical to the implementation of 2-dimensional scanning with multiple scanners. These features are then demonstrated in a prototype implementation using fluorescing samples as a mock target to evaluate the optical performance of the scanning system. Finally, the thesis describes a proof-of-concept for integration of the scanners in a trapped atoms experiment, in which rubidium atoms trapped inside a magneto-optical trap are selectively pumped into a fluorescing state using a beam steered by the MEMS scanners.This thesis presents the design and characterisation of novel MEMS scanners, for use in systems involving trapped atomic particles. The scanners are manufactured using multiuser silicon-on-insulator MEMS fabrication processes and use resonant piezoelectric actuation based on aluminium nitride thin films to produce one dimensional scanning at high frequencies, with resonance tuning capabilities of up to 5 kHz. Frequencies of ~100kHz and higher are required to enable for example resonant addressing of trapped atomic particles. This work demonstrates how the 200 μm and 400 μm diameter scanners can produce optical deflection angles upwards of 2° at frequencies from 80 kHz to 400 kHz. It proposes an addressing scheme based on Lissajous scanning to steer laser pulses onto 2D grids at a scale compatible with experiments involving single trapped atoms. It also examines frequency tuning capabilities of the scanners using localized on-chip Joule heating and active cooling ; frequency tuning and synchronization are shown to be critical to the implementation of 2-dimensional scanning with multiple scanners. These features are then demonstrated in a prototype implementation using fluorescing samples as a mock target to evaluate the optical performance of the scanning system. Finally, the thesis describes a proof-of-concept for integration of the scanners in a trapped atoms experiment, in which rubidium atoms trapped inside a magneto-optical trap are selectively pumped into a fluorescing state using a beam steered by the MEMS scanners

Plasma engineering of microstructured piezo – Triboelectric hybrid nanogenerators for wide bandwidth vibration energy harvesting

We introduce herein the advanced application of low-pressure plasma procedures for the development of piezo and triboelectric mode I hybrid nanogenerators. Thus, plasma assisted deposition and functionalization methods are presented as key enabling technologies for the nanoscale design of ZnO polycrystalline shells, the formation of conducting metallic cores in core@shell nanowires, and for the solventless surface modification of polymeric coatings and matrixes. We show how the perfluorinated chains grafting of polydimethylsiloxane (PDMS) provides a reliable approach to increase the hydrophobicity and surface charges at the same time that keeping the PDMS mechanical properties. In this way, we produce efficient Ag/ZnO convoluted piezoelectric nanogenerators supported on flexible substrates and embedded in PDMS compatible with a contact–separation triboelectric architecture. Factors like crystalline texture, ZnO thickness, nanowires aspect ratio, and surface chemical modification of the PDMS are explored to optimize the power output of the nanogenerators aimed for harvesting from low-frequency vibrations. Just by manual triggering, the hybrid device can charge a capacitor to switch on an array of color LEDs. Outstandingly, this simple three-layer architecture allows for harvesting vibration energy in a wide bandwidth, thus, we show the performance characteristics for frequencies between 1 Hz and 50 Hz and demonstrate the successful activation of the system up to ca. 800 Hz.EMERGIA Junta de Andalucía programUniversity of Seville the VI PPIT-USICMS and the CITIUS from the University of Sevill