PKM mechatronic clamping adaptive device

This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results

On the modelling and testing of a laboratory scale Foucault pendulum as a precursor for the design of a high performance measurement instrument

An integrated study is presented on the dynamic modelling and experimental testing of a mid-length Foucault pendulum with the aim of confirming insights from the literature on the reliable operation of this device and setting markers for future research in which the pendulum may be used for the measurement of relativistic effects due to terrestrial gravity. A tractable nonlinear mathematical model is derived for the dynamics of a practical laboratory Foucault pendulum and its performance with and without parametric excitation, and with coupling to long-axis torsion is investigated numerically for different geographical locations. An experimental pendulum is also tested, with and without parametric excitation, and it is shown that the model closely predicts the general precessional performance of the pendulum, for the case of applied parametric excitation of the length, when responding to the Newtonian rotation of the Earth. Many of the principal inherent performance limitations of Foucault pendulums from the literature have been confirmed and a general prescription for design is evolved, placing the beneficial effect of principal parametric resonance of this inherently nonlinear system in a central mitigating position, along with other assistive means of response moderation such as excitational phase control through electromagnetic pushing, enclosure, and the minimization of seismic and EMC noise. It is also shown, through a supporting analysis and calculation, that although the terrestrial measurement of the Lense-Thirring (LT) precession by means of a Foucault pendulum is certainly still within the realms of possibility, there remains a very challenging increase in resolution capability required, in the order of 2 × 10 9 to be sure of reliable detection, notwithstanding the removal of extraneous motions and interferences. This study sets the scene for a further investigation in the very near future in which these challenges are to be met, so that a new assault can be made on the terrestrial measurement of LT precession

3D magnetic analysis of permanent magnets in spherical configuration

The present study aims to increase the amount of surface flux by changing the magnetic directions of a spherical magnet (NdFeB) consisting of four poles. For this purpose, the magnetic directions of quartile spherical slices constituting the spherical magnet are manipulated and their three-dimensional analyses are carried out by using finite-element method via Maxwell environment. The analysis of the magnetic quartile spheres with four different magnetic directions are compared to the each other, and then the quartile sphere with the best surface flux distribution is suggested for rotor structure. It is clear emphasized that the induced torque of the spherical motor, in which such a rotor is used, will be improved as well. © The Korean Institute of Electrical Engineers

Design and Optimization of an Active Leveling System Actuator for Lunar Lander Application

This work proposes a systematic methodology for designing an active leveling system (ALS) actuator for lunar landing application. The ALS actuator is integrated into an inverted tripod leg layout, exploiting a honeycomb crushable damper as a shock absorber. The proposed ALS actuator is fitted within the leg’s primary strut and features a custom permanent-magnet synchronous machine rigidly coupled with a lead screw. The actuator aims to both provide proper leg deployment functioning and compensate for the different shock absorber deformations during landing. The leg dynamic behavior is simulated through a parameterized multi-body model to investigate different landing scenarios. First, a parametric sensitivity approach is used to optimize the transmission system and the electric machine characteristics. Then, the electric motor model is numerically validated and optimized through electromagnetic finite element analysis. To validate the proposed ALS design methodology, a virtual test bench is used to assess the ALS performances under different load scenarios. It is found that the proposed methodology is able to yield a compact, well-sized actuator which is numerically validated with the EL3 platform as a case study

Resonant Adaptive Mirrors

Deformable mirrors (DMs) are integrated into adaptive optical (AO) systems to compensate for wavefront aberrations. These aberrations degrade the image resolution of telescopes, microscopes, ophthalmoscopes, and optical coherent tomographs. The objective of the DM in these applications is to compensate for wavefront aberrations. Continuous and segmented DMs utilize a variety of mechanisms such as electrostatic, piezoelectric, and electromagnetic actuation. Micro-electromechanical systems (MEMS) DMs have the advantages of low cost, low power consumption, and high electrode density. As the electrode count increases, the possibility of the desired modes corresponding to the Zernike modes appearing increases. However, the complexity of the static actuation also increases. In ophthalmology, fth order Zernike modes are used to categorize the aberrations induced by the human eye. These aberrations would degrade the image resolution of the retina during laser scanning. Therefore, a dynamically continuous DMs were developed and actuated at a natural frequency corresponding to the desired Zernike mode. The actuations would drive the mirror plate to deform into the shape of the desired mode. Multiple modes corresponding to low- and high-order Zernike modes were obtained. Resonant DMs exploit the dynamic ampli cation available at natural frequency's in order to reduce voltage and power requirements. This will also reduce the requirements for spatial control of individual electrodes' voltage. However, the use of circular mirror plates to create the electromechanical modes has led to the appearance of degenerate modes (pairs of almost identical modes with closely spaced frequencies). Electrostatic elds were designed to separate those modes and help break coupling between them. The elds employ selectively, actuating some of the electrodes under the DM while grounding the rest. An AC voltage was applied to selective scheme of electrodes in order to induced mode shapes that are corresponding to the Zernike modes. This design relies on a new technique which uses pulsed laser scanning instead of continuous laser scanning. The proposed DM was designed and fabricated using a Micra-GEM fabrication process. Simulations using the nite element method (FEM) software COMSOL were used in order to determine the natural frequencies and mode shapes, and to separate degenerate modes natural frequencies by applying electrostatic elds that increase the di erence between them. Characterization of the DM was conducted using laser Doppler vibrometer to identify the mode shapes and its natural frequencies experimentally. The stroke measurements of the target DM were shown as a function of frequency and amplitude. In addition, RMS error measurements were used as a comparison between DM modes and there corresponding Zernike mode. The aim of this research was to over come the in uence function due to mechanical coupling in the continuous DMs. In uence function requires di erent voltages that apply to electrode scheme. Therefore, static actuation of the DMs rely on a complex driving circuits. Resonant DMs eliminate the e ect of the in uence function by triggering the mirror via its natural frequencies. They reduce the number of red electrode scheme by applying single voltage to the electrodes. As a result, they reduce the complexity of the driving circuits that require to control its shape. This research requires a new technique of using a pulsed laser instead of a continuous laser for the proposed DM. This may lead to manipulation of the optical laser signal using the mirror as a part of the signaling process. This should be completed by synchronizing the frequencies of both the DM and the laser to produce a high resolution image of the retina

Improved micro-contact resistance model that considers material deformation, electron transport and thin film characteristics

This paper reports on an improved analytic model forpredicting micro-contact resistance needed for designing microelectro-mechanical systems (MEMS) switches. The originalmodel had two primary considerations: 1) contact materialdeformation (i.e. elastic, plastic, or elastic-plastic) and 2) effectivecontact area radius. The model also assumed that individual aspotswere close together and that their interactions weredependent on each other which led to using the single effective aspotcontact area model. This single effective area model wasused to determine specific electron transport regions (i.e. ballistic,quasi-ballistic, or diffusive) by comparing the effective radius andthe mean free path of an electron. Using this model required thatmicro-switch contact materials be deposited, during devicefabrication, with processes ensuring low surface roughness values(i.e. sputtered films). Sputtered thin film electric contacts,however, do not behave like bulk materials and the effects of thinfilm contacts and spreading resistance must be considered. Theimproved micro-contact resistance model accounts for the twoprimary considerations above, as well as, using thin film,sputtered, electric contact

Aeronautical Engineering: A special bibliography, supplement 60

This bibliography lists 284 reports, articles, and other documents introduced into the NASA scientific and technical information system in July 1975

A novel dual-rotor ultrasonic motor for underwater propulsion

Micro underwater vehicles (MUVs) have been highlighted recently for underwater explorations because of their high maneuverability, low price, great flexibility, etc. The thrusters of most conventional MUVs are driven by electromagnetic motors, which need big mechanical transmission parts and are prone to being interrupted by the variance of ambient electromagnetic fields. In this paper, a novel dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference is presented, characterized, and applied for actuating underwater robots. This motor was composed of a spindle-shaped stator, pre-pressure modulation unit, and dual rotors, which can output two simultaneous rotations to increase the propulsion force of the MUV. The pre-pressure modulation unit utilized a torsion spring to adjust the preload at the contact faces between the stator and rotor. The working principle of the ultrasonic motor was developed and the vibration mode of the stator was analyzed by the finite element method. Experimental results show that the no-load rotary speed and stalling torque of the prototype ultrasonic motor were 110 r/min and 3 mN m, respectively, with 150 V peak-to-peak driving voltage at resonance. One underwater robot model equipped with the proposed ultrasonic motor-powered thruster could move at 33 mm/s immersed in water. The dual-rotor ultrasonic motor proposed here provides another alternative for driving MUVs and is appropriate for developing specific MUVs when the electromagnetic interference issue needs to be considered. © 2019 by the authors

Mitigation of transient torque reversals in indirect drive wind turbine drivetrains

Bearing failure in wind turbine gearboxes is one of the significant sources of downtime. While it is well-known that bearing failures cause the largest downtime, the failure cause(s) is often elusive. The bearings are designed to satisfy their rolling contact fatigue (RCF) life. However, they often undergo sudden and rapid failure within a few years of operation. It is well-known that these premature failures are attributed to surface damages such as white surface flaking (WSF), white etching cracks (WECs) and axial cracks. In that regard, transient torque reversals (TTRs) in the drivetrain have emerged as one of the primary triggers of surface damage, as explained in this paper. The risk associated with TTRs motivates the need to mitigate TTRs arising in the drivetrain due to various transient events. This paper investigates three TTR mitigation methods. First, two existing devices, namely, the torsional tuned mass damper and the asymmetric torque limiter, are studied to demonstrate their TTR mitigation capabilities. Then, a novel idea of open-loop high-speed shaft mechanical brake control is proposed. The results presented here show that while the torsional tuned mass damper and the asymmetric torque limiter can improve the torsional vibration characteristics of the drivetrain, they cannot mitigate TTRs in terms of eliminating the bearing slip risk associated with TTRs. However, the novel approach proposed here can mitigate TTRs both in terms of improving the torque characteristic in the high-speed shaft and reducing the risk of bearing slip by actuating the high-speed shaft brake at the onset of the transient event. Furthermore, the control method is capable of mitigating TTRs with the mechanical limitations of a pneumatic actuator in terms of bandwidth and initial dead time applied to it. This novel approach allows the wind turbines to protect the gearbox bearings from TTRs using the existing hardware on the turbine