This thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton due to its higher force. The Fiber-Reinforced actuator molds were 3D printed, four models were made. Two materials were used to fabricate the models: Dragon Skin 30A and Sort-A-Clear 40A. Two number of windings: (n=40) and (n=25), actuators wrapped with carbon fiber. An air tank was used to supply pressure. The actuators were studied at different pressures. Pressure-force relation was studied, and a close to linear relationship was found. Boa Exoskeleton was made for wrist. Electromyography (EMG) was used; Four EMG receptors were put around the arm. EMG was utilized to actuate the Boa Exoskeleton and record the muscle movement. Five tests were done on six human subjects to validate the Boa Exoskeleton. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2018. / FAU Electronic Theses and Dissertations Collection

Thesis (DTech (Mechanical Engineering))--Peninsula Technikon, 2004. / Engineers and Technologists have always been identified as those individuals that put into practice the theories developed by scientists and physicists to enhance the lives of human beings. In the same spirit as those that came before, this thesis describes the development of a computational engineering tool that will aid Engineers and Technologists to design smart or intelligent structures comprising of NiTi shape memory alloy rods for actuation purposes. The design of smart actuators consisting of NiTi shape memory alloy structural members will be beneficial to industries where light weight, compactness, reliability and failure tolerance is of utmost importance. This is mainly due to the unique material responses exhibited by this smart material. The shape memory effect, one of these material responses consists out of two stages: a low temperature load induced phase transformation causing a macroscopic deformation (either extension, contraction, etc.) also known as quasi-plasticity; and a high temperature phase transformation that erases the low temperature macroscopic deformation and reverts the material to some predefined geometry. When designing actuators consisting of this smart material, the quasi-plastic material response produces the actuation stroke while the high temperature phase transformation produces the actuation force. The successful engineering design of smart structures and devices particularly suited for applications where they operate in a capacity, as actuators harnessing the shape memory effect are dependent on a few important factors. These include the engineers familiarity with the type of smart material used, the availability of sound experimental data pertaining to the complex material responses exhibited by the smart material, the engineers level of proficiency with existing constitutive models available to simulates these material responses, and the engineers knowledge of simulation tools consisting of a suitable control algorithm fo~ the modeling of not only the device or structure itself but also the actuator involved in the design.

No description available.

Thesis (MTech (Mechanical Engineering))--Peninsula Technikon, Cape Town, 2002 / Distributed Piezoelectric Actuator (DPA) is one kind of actuator in the smart technology field. Firstly, DPA is one kind of solid-state actuator, and can be embedded in the structure. Secondly, it can be controlled by the electrical signal with high bandwidth and high precision. So it can be applied in the many different fields, such as high-resolution positioning, noise and vibration detection and shape control. Up to now, all of the DPA theory investigations and the product designs are based on applying the approximate electrical field. And only the rectangular shape DPA has been studied. The accurate distribution and intensity of electrical and mechanics field, and the numerical imitation for the DPA products with rectangular and other shapes have never been discussed and studied. Therefore, the development of DPA to be used in the micro application, such as in the Micro Electro-Mechanical System (MEMS), has been limited. This thesis has developed the analytical analysis models for two types of DPA elements and the part circular shape DPA element. The MathCAD and MATLAB program have been used to develop the analytical models. The ABAQUS program has also been used to compare the results between the analytical models and Finite Element Method (FEM). Finally, the accuracy and reliability of analytical models have been proved by results comparison between the analytical models, FEM and the product testing data from the industry. This thesis consists of five chapters. Chapter 1 is the introduction of smart structure. The characterizations of constituent materials, including the piezoelectric material and matrix epoxy material have been discussed in Chapter 2. In Chapter 3, the analytical models for two type of DPA element have been developed and the comparisons have also been completed. The analytical models for part circular shape DPA element have been developed in Chapter 4. The conclusions and recommendations are included in Chapter 5.

In this work a bio-inspired flapping actuator based on varied magnetic fields is developed, controlled and characterized. The actuator is sought to contribute to the toolbox of options for bio-mimetics research. The design is that of a neodymium bar magnet on one end of an armature which is moved by two air core electromagnetic coils in the same manner as agonist and antagonist muscle pairs function in biological systems. The other end of the armature is fitted to a rigid fin extending beyond the streamline enclosure body to produce propulsion. A series of tests in still water were performed to measure the kinematics and propulsive force for different control schemes including the effect of adding antagonistic resistance to the control schemes. Control methods based on armature position and based on setpoint error were tested and antagonist force was found to increase consistency of control of the systems in certain cases. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection