High-speed electromagnetic moving-iron actuators are experimentally investigated and numerically simulated, using digitally-controlled instrumentation techniques, lumped-parameter( magnetic equivalent circuit)networks,and field (finite-element) models. Various actuator topologies, based on the moving-iron principle, that are capable of achieving very high operating speeds, are also investigated. An optically-based and digitally-controlled instrumentation technique is developed to assessth e actuatord ynamic performance.A dual voltage (microprocessor-controlled) strategy is also developed to improve actuator speed of response. A lumpedparameter model that accurately simulates, with minimum computation, the dynamic behaviour of the actuator is developed and experimentally verified. This model, whose magnetic parameters are derived from static field results, accounts for magnetic saturation, 3D effects due to width change between iron parts and transverse edge fluxes, and the dynamic coupling of the actuator system variables. A static lumped-parameterm odel is developed,i n parallel, to achieve insight into the underlying actuator design principle, and rapid predictions of the effects of parametric changes. Two-dimensional field models are developed, using a commercial finite-element package, to accurately predict the saturation levels, and to estimate the mmf/flux characteristics of each actuator component (iron and air part) and force characteristics for use in the dynamic lumped-parameter model. The 3D effects are taken into account by incorporating the results of 2D scalar potential models, in typical transverse planes, into the longitudinal (main path) solution using suitable compensation factors. Transient eddy current effects are also investigated. The study is extended by surveying various topologies of moving-iron devices, and analysing their relative performances. The objective of this investigation is to establish, quantify, and compare the factors limiting the performance, particularly the maximum accelerationr ate.

A dissertation submitted to the Faculty of Engineering and the Built Environment, University of the Witwatersrand, Johannesburg, in fulfilment of the requirements for the degree of Master of Science in Engineering Johannesburg, September 2016 / The work in this dissertation presents the analysis of developing a novel means of flight trajectory alteration of a civil aircraft. Piezoelectric actuators have been advancing in the aerospace industry with uses in structural, vibrational and sensing applications. However, they have not been considered as a primary control method like an elevator, aileron and rudder. The analysis performed in this research involved developing an actuation model which is designed such that various changes in flight trajectory are brought about. The analysis began by building a base rigid aircraft model, where other analyses were appended to. The rigid aircraft model was developed using the aerodynamics of both Roskam (2001) and DATCOM. The DATCOM model was found to compensate for additional aircraft positions outside the flight envelope, whereas Roskam (2001) did not adequately provide the aerodynamics for when the aircraft would experience stall conditions, for example. The research then lead into developing the piezoelectric actuation model. This involved utilizing piezoelectric actuators on the wing of the aircraft, which was set to create vertical and twisting deformations, without altering the wing’s camber. Two novel methods of actuation are discussed. A wing - twist mode which consisted of three types of actuation, viz. linear twist, inverse linear twist, and linear twist symmetric. The second was the bending mode which altered the aircraft’s dihedral, and consisted of two types of actuation, viz. linear bending and linear bending symmetric. Effects of these two modes on the aerodynamics were depicted. Added to the overall model was the analysis of elastic aerodynamic effects. This was conducted by performing vibrational analysis on the individual components of the aircraft, viz. wing, horizontal tail and vertical tail. The results found that the elastic aerodynamic effects on the rigid model were significant only in lift. The rest were not significant because of the high frequency of the beams under consideration. Conclusively, the novel actuation methodology developed in this research yielded results demonstrating the viability of it being used above conventional methods such as elevator, rudder and ailerons. This was found by noting that various trajectory alterations were perceived without input from the conventional actuation methods. Increase in the rotational motions, as well as the translational motion was found, but did not cause any dynamic instabilities in the aircraft model. Thus, the actuation model was seen to operate well above the conventional methods, and situation specific uses were described for the actuation modes. These include uses in take-off and landing, cruise optimization and coordinated turns. / MT2017

Soft pneumatic actuators produce more energy output per unit mass than conventional rigid pneumatic actuators and are safer for applications involving physical contact with users or fragile objects. The design, modelling, fabrication, and optimization of origami-inspired soft pneumatic actuators (OSPA) are investigated in this thesis. A novel fabrication method employing heat shrinkable polymers conforming to reusable 3D printed molds is proposed. It is rapid, cost-effective, and more systematic than prior OSPA fabrication methods. A nonlinear finite-element analysis (FEA) model for an OSPA based on the accordion crease pattern is developed for predicting the actuator's folding behavior and blocked force. The model includes a nonlinear hyperelastic model of the heat shrink material’s behaviour (obtained empirically) and nonlinear frictional contacts. It is validated with experimental results and is shown to predict the blocked force with a 5.7% maximum error. Prototypes of two OSPA designs (accordion and Yoshimura patterns) are fabricated. Isometric, isobaric, isotonic, and cyclic fatigue tests are performed on the accordion pattern OSPA. The tests demonstrate that it can lift more than 124 times its own weight, and had no decrease in performance after 150,000 contraction/extension cycles with a payload of 2 kg. This durability is superior to existing OSPA. Lastly, a FEA model-based design optimization approach is proposed. A multi-objective genetic algorithm (MOGA) is used to find the origami design parameters that maximize the accordion pattern OSPA's work output. The optimized design is validated experimentally. Although this research focuses on the accordion pattern OSPA, the proposed fabrication, modelling and optimization approaches can be easily adapted to other OSPA designs. In addition to linear force and motion, these actuators can be combined to produce different motions, e.g., a pair of actuators can be connected by a cable to a pulley in an agonist-antagonist arrangement to produce a bidirectional rotary actuator. / Thesis / Doctor of Philosophy (PhD) / Soft pneumatic actuators are lighter than conventional rigid pneumatic actuators and are safer for applications involving physical contact with users or fragile objects. The design, modelling, fabrication, and optimization of origami-inspired soft pneumatic actuators (OSPA) are investigated. A novel fabrication method that is rapid, cost-effective, and more systematic than prior OSPA fabrication methods is proposed. A nonlinear model is developed and shown to predict the OSPA’s output force with a 5.7% maximum error. An extensive series of tests are performed on OSPA prototypes. The accordion pattern OSPA can lift more than 124 times its own weight, and had no decrease in performance after 150,000 contraction/extension cycles with a payload of 2 kg. This durability is superior to existing OSPA. Lastly, a model-based approach for optimizing the OSPA design is presented and validated experimentally. The proposed fabrication, modelling and optimization approaches can be easily adapted to other OSPA designs.

Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that are possibly used with this method, and model bellows actuators including operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector. The robotic system introduced achieved errors of less than 5% when compared to the models, and positioning accuracies of better than 1cm. / Doctor of Philosophy / Future robotic systems are expected to deal with many tasks in real-world environments. The natural environment is highly unpredictable and unstructured, making manipulation and locomotion challenging for robots. Robots need to rely on adaptability, reconfigurability, and safety. Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or household iron, or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that can be used with this method, and make models of bellows actuators including their operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector.

The main objectives of this thesis are 1) to evaluate the effect of cross-linking polar cyano phenyl (CN) groups on poly (dimethyl siloxane) (PDMS) and 2) to characterize the electromechanical properties of the resulting CN-PDMS blend as an electroactive actuator. Materials responding to an external stimulus are referred to as electroactive materials. There are several phenomena, which govern the mechanism in these materials, such as piezoelectricity, Maxwell's effect, ferroelectricity, electrostriction to name a few. These electroactive materials can be employed in several applications such as biomedical devices, robots, MEMs, aerospace vehicles, where the application is governed by the specific mechanism. However in order for the materials to be used effectively, they need to be thoroughly characterized to understand their behavior under factors like electric field, temperature, frequency and time.The present work focuses on developing an electroactive actuator, which has tailorable properties, allowing a wide operational temperature window from -100°C to 200°C and stability in harsh conditions. The characterization of the CN-PDMS polymer blend is done in two folds. First the physical properties of the polymer system are characterized by performing tests such as Dielectric Spectroscopy, Differential Scanning Calorimetery and Thermally Stimulated Current measurement. These techniques offer complete understanding of the structure-property relationship and effects of the functional groups on the dielectric and relaxation behavior of the polymer. The Dielectric Spectroscopy and the Thermally Stimulated Current analysis are used to elucidate the primary and the secondary relaxations, such as molecular mobility, interfacial polarization and dipolar relaxation. Dielectric Spectroscopy reveals that the molecular weight of PDMS does not affect the dielectric permittivity of the polymer blend. Also, Dielectric Spectroscopy clarifies the role of the CN polar group in the polarization of the CN-PDMS blend, inducing electromechanical strain in the polymer blend through electrostriction.The Differential Scanning Calorimetery is used to quantify the thermal behavior of the CN-PDMS polymer blend by quantifying properties such as melting temperature (Tm) and re-crystallization temperature of the PDMS polymer cross-linked with CN functional group. Results reveal that the thermal characteristics of the blend are not affected when PDMS is cross-linked with the functional CN moieties, meaning CN-PDMS maintains the advantages of PDMS in terms of stability towards harsh conditions, wide operating temperature and resistance to ultraviolet radiations.Following the physical characterization, electromechanical characterization of the CN-PDMS polymer blend is done to assess the electromechanical strain induced in the blend in response to electric field. The electromechanical strain is studied in two configurations; the electromechanical strain induced along the length of the polymer blend and induced through the thickness of the blend. These strain measurements are performed by applying both direct current as well as alternating current electric fields, and the induced electromechanical strain is studied as a function of amplitude and frequency of the electric field as well as the time of application of the electric field. The mechanism behind the development of the electromechanical strain and the nature of the strain under electric field is elucidated. The performance of the electroactive polymer is compared with several other polymeric actuators such as PVDF and PVDF-TrFE, polyurethane based actuators and ionomers. Comparison gives favorable results in terms of strains. In addition, CN-PDMS polymer system has the advantage of allowing control of processing of the blend, which is not present in all the other commercial electroactive polymers. The maximum electromechanical strain yielded along the length of the CN-PDMS polymer blend is 1.74 % when an electric field of 0.2MV/m is applied along the length of the polymer. Through the thickness, the maximum induced strain is 0.12 % for an electric field of 0.8 MV/m. Based on the nature of the strain yielded it is observed that the strain induced in the CN-PDMS blend is consistently proportional to the square of the electric field (E2). Moreover, the strain is driven by the concentration of the dipolar moieties (CN) present in the polymer blend.All the above-mentioned techniques used for thermal and electromechanical characterization of the CN-PDMS polymer blend illustrate the electrostrictive nature of the polymer under the study.

The medical community has expressed a need for flexible medical instruments. Hence, this work investigates the possibility to use "flexible fluidic actuators" to develop such flexible instruments. These actuators are driven by fluid, i.e. gas or liquid, and present a flexible structure, i.e. an elastically deformable and/or inflatable structure. Different aspects of the study of these actuators have been tackled in the present work: • A literature review of these actuators has been established. It has allowed to identify the different types of motion that these actuators can develop as well as the design principles underlying. This review can help to develop flexible instruments based on flexible fluidic actuators. • A test bench has been developed to characterize the flexible fluidic actuators. • A interesting measuring concept has been implemented and experimentally validated on a specific flexible fluidic actuator (the "Pneumatic Balloon Actuator", PBA). Ac- cording to this principle, the measurements of the pressure and of the volume of fluid supplied to the actuator allow to determine the displacement of the actuator and the force it develops. This means being able to determine the displacement of a flexible fluidic actuator and the force it develops without using a displacement sensor or a force sensor. This principle is interesting for medical applications inside the human body, for which measuring the force applied by the organs to the surgical tools remains a problem. The study of this principle paves the way for a lot of future works such as the implemen- tation and the testing of this principle on more complex structures or in a control loop in order to control the displacement of the actuator (or the force it develops) without using a displacement or a force sensor. • A 2D-model of the PBA has been established and has helped to better understand the physics underlying the behaviour of this actuator. • A miniaturization work has been performed on a particular kind of flexible fluidic actu- ator: the Pleated Pneumatic Artificial Muscle (PPAM). This miniaturization study has been made on this type of actuator because, according to theoretical models, minia- turized PPAMs, whose dimensions are small enough to be inserted into MIS medical instruments, could be able to develop the forces required to allow the instruments to perform most surgical actions. The achieved miniaturized muscles have a design similar to that of the third generation PPAMs developed at the VUB and present a total length of about 90 mm and an outer diameter at rest of about 15 mm. One of the developed miniaturized PPAMs has been pressurized at p = 1 bar and it was able to develop a pulling force F = 100 N while producing a contraction of 4 %. Propositions have been made regarding a further miniaturization of the muscles.

The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a good fit for exoskeleton robots because of their light weight, small size, and flexible materials. This is because a wearable robot should be human friendly, therefore, it should be light weight, slim, powerful, and simple. In this paper, a novel pneumatic artificial muscle using soft materials including integrated electronics for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. Compared to traditional pneumatic muscle actuators such as the McKibben actuator and new soft actuators that were recently proposed, the novel actuator overcomes shortcomings of prior work. This is due to the actuator's very high contraction ratio that can be controlled by the manufacturing process. In this paper, we describe the design, fabrication, and evaluation of a novel pneumatic actuator that can accommodate integrated electronics for displacement and pressure measurements used for data analysis and control. The desired performance characteristics for the actuator were 100 ~ 400N at between 35kPa and 105kPa, and upon testing we found almost 120 ~ 300N which confirms that these actuators may be suitable in soft exoskeleton applications with power requirements comparable to rigid exoskeletons. Furthermore, a novel soft pneumatic elbow exoskeleton based on the pneumatic actuator concept and manufacturing process is presented. Each structure is designed and manufactured with all fabric. The distally-worn structure is only 300g, which is light weight for an arm exoskeleton, and the design is simple, leading to a low materials cost. / Master of Science / The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. The soft robotics is the specific field of robotics, which deals with flexible materials and different geometry in contrast to general robots made by rigid materials. Therefore, soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by the further development of pneumatic actuators. Pneumatic actuators are a good fit for exoskeleton robots because of their light weight, small size, and flexible materials. This is because a wearable robot should be human-friendly, therefore, it should be light weight, slim, powerful, and simple. In this paper, a novel pneumatic artificial muscle using soft materials for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it and its electronic system for data analysis and control. Furthermore, a novel soft pneumatic elbow exoskeleton based on the pneumatic actuator concept and manufacturing process is presented. Each structure is designed and manufactured with all fabric. The distally-worn structure is only 300g, which is light weight for an arm exoskeleton, and the design is simple, leading to a low materials cost.

Mobile legged robots have the potential to restructure many aspects of our lives in the near future. Whether for applications in household care, entertainment, or disaster response, these systems depend on high-performance actuators to improve their basic capabilities. The work presented here focuses on developing new high-performance actuators, specifically series elastic actuators, to address this need. We adopt a system-wide optimization approach, dealing with factors which influence performance at the levels of mechanical design, electrical system design, and control. Using this approach and based on a set of performance metrics, we produce an actuator, the UT-SEA, which achieves leading empirical results in terms of power-to-weight, force control, size, and system efficiency. We also develop general high-performance control techniques for both force- and position-controlled actuators, some of which were adopted for use on NASA-JSC's Valkyrie Humanoid robot and were used during DARPA's DRC Trials 2013 robotics competition. / text

Future railway trends require travelling at high speeds without deterioration in the ride quality, but further improvement of the ride quality by optimisation of the passive suspension components has reached its limits. This suggests that active suspensions should be used. Rigorous studies over the past four decades have shown that this technique is able to overcome the passive suspension limitation in terms of improving the overall ride performance of the railway vehicle with the incorporation of additional active elements i.e. actuators, sensors and processors. The work in this thesis investigates a novel method for controlling the actuators within the suspension system, something which has been neglected in previous studies. It is a particular problem because at higher frequencies, when the suspension is providing isolation of the car body from the track irregularities, the actuator must accommodate the suspension movements whilst producing very small forces, otherwise the ride quality substantially deteriorates. Instead of considering more complex active suspension control strategies, which tend to be complex and may be impractical, the performance of the actuator across the secondary suspension is investigated. This research looks into improving actuator technologies for railway secondary suspensions in order to achieve the full benefits of active control. This thesis explores novel methods to improve the ride quality of the railway vehicle through secondary suspension actuator and controller design, with the ultimate aim of integrating this technology into a fully active railway vehicle. The focus of this active suspension research is therefore upon incorporating real actuator technology, instead of the usual assumption of ideal actuators. For meaningful and reliable research a simple, well established active control strategy is used for assessment to highlight the degradation in the suspension performance compared with the ideal actuators. Preliminary investigation demonstrates significant degradation of the ride quality caused by real actuators in the secondary suspension, and this research looks at methods to reduce this effect. Including actuators within a secondary suspension system is a difficult actuator problem compared to the normal application of actuators such as position control. This is because the actuator controller design process requires the consideration of the interaction of the vehicle suspension. The actuators that have been identified as suitable for the application are the electromechanical and servo-hydraulic types, and these are incorporated across the secondary suspension. The effects of the actuator dynamics have been analysed. Practical classical controllers are used to provide force-feedback control of both types of actuator in the secondary suspension. A variety of actuator control techniques are considered including: optimisation of the actuator controller parameters to solve the multi-objective and multivariable problem, the introduction of feed forward techniques and the use of optimal control approaches.

In this thesis, the author presents a numerical and experimental study of the application of active constrained layer damping to a clamped-clamped plate. Piezoelectric actuators with modal controllers are used to improve the performance of vibration suppression from the passive constrained layer damping treatment. Surface damping treatments are often effective at suppressing higher frequency vibrations in thin-walled structures such as beams, plates and shells. However, the effective suppression of lower frequency modes usually requires the additional of an active vibration control scheme to augment the passive treatment. Advances in the technologies associated with so-called smart materials are dramatically reducing the cost, weight and complexity of active structural control and make it feasible to consider active schemes in an increasing number of applications. Specifically, a passive constrained layer damping treatment is enhanced with an active scheme employing a piezoceramic (PZT) patch as the actuator. Starting with an established finite element formulation it is shown how model updating and model reduction are required to produce a low-order state-space model which can be used as the basis for active control. The effectiveness of the formulation is then demonstrated in a numerical study. Finally, in the description of the experimental study it is shown how modes in the frequency range from 0 to 600 Hz are effectively suppressed: the two lowest modes (bending and torsional) through active control, the higher modes (around ten in number) by the passive constrained damping layer. The study'S original contribution lies in the experimental demonstration that given a sufficiently accurate model of the plate and passive constrained damping layer, together with a suitable active feedback control algorithm, spillover effects are not significant even when using a single sensor and single actuator. The experimental traces show, in some instances, minor effects due to spillover. However, it can be concluded that the presence of the passive layer introduces sufficient damping into the residual modes to avoid any major problems when using only the minimum amount of active control hardware.