The design, kinematics and torque analysis of the self-bending soft contraction actuator

This article presents the development of a self-bending contraction actuator (SBCA) through analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force to-weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and the bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the proposed kinematics. Therefore, the actuator can be used in many different applications, such as soft grippers and continuum arms

Kirigami Actuators

Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators that scale down to atomically-thin 2D materials. We first show that by understanding the mechanics of a single, non-propagating crack in a sheet we can generate four fundamental forms of linear actuation: roll, pitch, yaw, and lift. Our analytical model shows that these deformations are only weakly dependent on thickness, which we confirm with experiments at centimeter scale objects and molecular dynamics simulations of graphene and MoS$_{2}$ nanoscale sheets. We show how the interactions between non-propagating cracks can enable either lift or rotation, and we use a combination of experiments, theory, continuum computational analysis, and molecular dynamics simulations to provide mechanistic insights into the geometric and topological design of kirigami actuators.Comment: Soft Matter, 201

Dual drive actuators

A new class of electromechanical actuators is described. These dual drive actuators were developed for the NASA-JPL Galileo Spacecraft. The dual drive actuators are fully redundant and therefore have high inherent reliability. They can be used for a variety of tasks, and they can be fabricated quickly and economically

Actuator development for the Instrument Pointing System (IPS)

The mechanisms of the instrument pointing system (IPS) are described. Particular emphasis is placed on the actuators which are necessary for operating the IPS. The actuators are described as follows: (1) two linear actuators that clamp the gimbals down during ascent and descent; (2) two linear actuators that attach the payload to the IPS during the mission, and release it into the payload clamps; (3) one rotational actuator that opens and closes the payload clamps; and (4) three identical drive units that represent the three orthogonal gimbal axes and are the prime movers for pointing. Design features, manufacturing problems, test performance, and results are presented

Bindings and RESTlets: a novel set of CoAP-based application enablers to build IoT applications

Sensors and actuators are becoming important components of Internet of Things (IoT) applications. Today, several approaches exist to facilitate communication of sensors and actuators in IoT applications. Most communications go through often proprietary gateways requiring availability of the gateway for each and every interaction between sensors and actuators. Sometimes, the gateway does some processing of the sensor data before triggering actuators. Other approaches put this processing logic further in the cloud. These approaches introduce significant latencies and increased number of packets. In this paper, we introduce a CoAP-based mechanism for direct binding of sensors and actuators. This flexible binding solution is utilized further to build IoT applications through RESTlets. RESTlets are defined to accept inputs and produce outputs after performing some processing tasks. Sensors and actuators could be associated with RESTlets (which can be hosted on any device) through the flexible binding mechanism we introduced. This approach facilitates decentralized IoT application development by placing all or part of the processing logic in Low power and Lossy Networks (LLNs). We run several tests to compare the performance of our solution with existing solutions and found out that our solution reduces communication delay and number of packets in the LLN

Propellant-powered actuator for gas generators

Hydrazine operated monopropellant generators are used for spacecraft rocket engines and propellant pressurization systems. Measured work output of monopropellant actuators compares favorably with output of squib-type actuators

Advanced actuators for the control of large space structures

The objective of this research was to develop advanced six-degree-of-freedom actuators employing magnetic suspensions suitable for the control of structural vibrations in large space structures. The advanced actuators consist of a magnetically suspended mass that has three-degrees-of-freedom in both translation and rotation. The most promising of these actuators featured a rotating suspended mass providing structural control torques in a manner similar to a control moment gyro (CMG). These actuators employ large-angle-magnetic suspensions that allow gimballing of the suspended mass without mechanical gimbals. Design definitions and sizing algorithms for these CMG type as well as angular reaction mass actuators based on multi-degree-of-freedom magnetic suspensions were developed. The performance of these actuators was analytically compared with conventional reaction mass actuators for a simple space structure model

On Hirth Ring Couplings: Design Principles Including the Effect of Friction

Rings with Hirth couplings are primarily used for the accurate positioning of axial-symmetric components in the machine tool industry and, generally, in mechanical components. It is also possible to use Hirth rings as connection tools. Specific industries with special milling and grinding machines are able to manufacture both tailor made and standard Hirth rings available on stock. Unfortunately, no international standard (for instance ISO, DIN or AGMA) is available for the production and the design of such components. In the best-case scenario, it is possible to find simplified design formulae in the catalogue of the suppliers. The aim of this work is to provide some accurate formulae and computational methods for design to provide better awareness on the limitations and the potential of this type of connection. The work consists of five parts: (i) a review of the base calculation derived mainly from the catalogues of manufacturers; (ii) an improved calculation based on a new analytical method including the friction phenomenon; (iii) an experimentation run for validating the method; (iv) a case study applied to a machine tool; and, (v) a closed form formulation to determine an upper threshold for friction, thus ensuring the Hirth coupling regular performance