The focus of this research was to create a linear motor that could easily be packaged and still perform the same task of the current DC motor linear device. An incremental linear motor design was decided upon, for its flexibility in which the motor can be designed. To replace the current motor it was necessary to develop a high force, high speed incremental linear motor. To accomplish this task, piezoelectric actuators were utilized to drive the motor due their fast response times and high force capabilities. The desired overall objectives of the research is to create an incremental linear motor with the capability of moving loads up to one hundred pounds and produce a velocity well over one inch per second. To aid the design process a lumped parameter model was created to simulate the motor's performance for any design parameter. Discrepancies occurred between the model and the actual motor performance for loads above 9.1 kilograms (20 pounds). The resulting model, however, was able to produce a good approximation of the motor's performance for the unloaded and lightly loaded cases. The phase one design was limited by time constraints so a relatively low risk design was produced. The resulting incremental linear motor produced a velocity of 4.9 mm/sec (0.2 in/sec) at a drive frequency of 50 Hz. The velocity of the motor was limited by the drive frequency that the amplifiers could produce. The motor was found to produce a respectable stall load of 17 kilograms (38 pounds). The stall load of the phase one design was severely limited by clearance losses. An analysis of the motor's performance was conducted, possible improvements and future work recommendations for a phase two design are presented. / Master of Science

abstract: This thesis presents the design and testing of a soft robotic device for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes using pneumatic and without the need to adjust rigid, mechanical components. The robot utilizes inflatable soft actuators with an adjustable radius which, when pressurized, can provide a radial force, effectively anchoring the device in place. Additional soft inflatable actuators translate forces along the center axis of the device which creates forward locomotion when used in conjunction with the radial actuation. Furthermore, a bio-inspired control algorithm for locomotion allows the robot to maneuver through a pipe by mimicking the peristaltic gait of an inchworm. This thesis provides an examination and evaluation of the structure and behavior of the inflatable actuators through computational modeling of the material and design, as well as the experimental data of the forces and displacements generated by the actuators. The theoretical results are contrasted with/against experimental data utilizing a physical prototype of the soft robot. The design is anticipated to enable compliant robots to conform to the space offered to them and overcome occlusions from accumulated solids found in pipes. The intent of the device is to be used for inspecting existing pipelines owned and operated by Salt River Project, a Phoenix-area water and electricity utility provider. / Dissertation/Thesis / Masters Thesis Engineering 2019

In this thesis, a snake like robot is implemented for search and rescue applications. The snake is intentionally selected as a reference for their ability to move on various environments, but due to the mechanical limitations the implemented snake-like robot design could not be close to the biological counterparts. Although the implemented snake like robot is not a replica of biological snakes / it captured key aspects of snakes such as flexibility, redundancy and high adaptation. To depart from the mechanical limitations / a model of the implemented robot is designed in MATLAB - SIMMECHANICS including a model for the environment. The implemented model is based on the implemented snake like robot but possessed extra features. The model is controlled to perform common snake gaits for navigation. Obstacle avoidance, object (debri or victim) v reaching and object dragging behaviors are acquired for the implemented gaits. Object dragging is accomplished by pushing an object by head or the body of the robot without lifting. For effective navigation, appropriate snake gaits are conducted by the model. All control operations such as obstacle avoidance for each gait and gait selection / a network of self tunable FACL (fuzzy actor critic) fuzzy controllers is used. Although the adapted snake gaits result in the movements which have properties that are not a replica of the real snake gaits, self tunable controllers offered best available combination of gaits for all situations. Finally, truncated version of the controller network, where the implemented mechanical robot&amp / #8217 / s abilities are not breached, is attached to the mechanical robot.

This thesis focuses on identifying hard material pairs with low roughness, high coefficient of static friction, high wear resistance and high modulus of elasticity, suitable for sliding in dry friction conditions under a normal load. A wide range of materials including various steels, various coatings on tool steels deposited by various deposition techniques and different ceramics were examined and considered for tribological testing. Procedures and sequences were developed for conducting tribology tests on the material pairs. High endurance - low cycle tests were conducted and based on the performance of material pairs with respect to friction, wear and surface roughness a small set of material pairs and coatings was selected for further testing. High endurance - high cycle tests were performed on an additional seventeen pairs of material pairs selected for long term sliding. Material pairs were selected for low endurance tests based on high corrosion resistance along with all the above specified design parameters. Low endurance tests were conducted to identify material pairs sliding for a short distance in humid environments. Results are tabulated and pictures of the material pairs after wear tests are presented. It was found that four material pairs for high endurance applications and two pairs for the low endurance applications performed very well in regard of design specifications. These material pairs find a major application in friction clamps of an Inchworm motor resulting in enhancement of force output of the motor.

Title from PDF of title page. / Document formatted into pages; contains 78 pages. / Thesis (M.S.M.E.)--University of South Florida, 2003. / Includes bibliographical references. / Text (Electronic thesis) in PDF format. / ABSTRACT: This thesis focuses on identifying hard material pairs with low roughness, high coefficient of static friction, high wear resistance and high modulus of elasticity, suitable for sliding in dry friction conditions under a normal load. A wide range of materials including various steels, various coatings on tool steels deposited by various deposition techniques and different ceramics were examined and considered for tribological testing. Procedures and sequences were developed for conducting tribology tests on the material pairs. High endurance - low cycle tests were conducted and based on the performance of material pairs with respect to friction, wear and surface roughness a small set of material pairs and coatings was selected for further testing. High endurance - high cycle tests were performed on an additional seventeen pairs of material pairs selected for long term sliding. / ABSTRACT: Material pairs were selected for low endurance tests based on high corrosion resistance along with all the above specified design parameters. Low endurance tests were conducted to identify material pairs sliding for a short distance in humid environments. Results are tabulated and pictures of the material pairs after wear tests are presented. It was found that four material pairs for high endurance applications and two pairs for the low endurance applications performed very well in regard of design specifications. These material pairs find a major application in friction clamps of an Inchworm motor resulting in enhancement of force output of the motor. / System requirements: World Wide Web browser and PDF reader. / Mode of access: World Wide Web.

The work presented in this dissertation on piezoelectric inchworm motors (IWM) is part of a process to gain an understanding of the design, analysis and testing of this smart actuator technology. This work will form the foundation of what will hopefully lead to the realisation of a production-ready IWM design to be used in energy-scarce, battery-operated Unmanned Aerial Vehicles (UAVs), and forms part of a larger national drive to expand the UAV industry in South Africa. Although the principles used in the design of IWMs are well known, a new innovation is employed. A novel way to increase the force capacity of IWMs without compromising on the speed or displacement when compared to conventional methods is shown to be effective, and was used for the first time on IWMs. The use of a simple design equation is demonstrated to be useful in predicting the load limits and step displacements. Challenges of finding a correlation between predicted and measured performance values are discussed and solutions are presented. The history of IWMs and some background on piezoelectricity are given for the reader not familiar with these. The use of micro ridges on the clamp mechanisms is explored. The effects of the control signals on the mechanism of the motor are discussed in detail and some important comments on electrical controllers are made. The emphasis is on designing a strong motor that capitalises on the high-force density of piezoelectric material. / Dissertation (MEng)--University of Pretoria, 2014. / gm2014 / Mechanical and Aeronautical Engineering / unrestricted

Equilibrium statistical mechanics has a remarkable property: the steady state probability distribution can be calculated by a procedure independent of the detailed dynamics of the system under consideration. The partition function contains the complete thermodynamics of the system. The calculation of the partition function itself might be a daunting task and one might need to resort to approximate methods in practice. But there is no problem in principle on how to do the statistical mechanics of a system that is at thermal equilibrium. Nonequilibrium statistical mechanics is a completely different story. There is no general formalism, even in principle, the application of which is guaranteed to yield the probability distribution, even for stationary states, without explicit consideration of the dynamics of the system. Instead, there are several methods of wide applicability drawn from experience which work for particular classes of systems. Frequently, one writes down phenomenological equations of motion based on general principles of conservation and symmetry and attempts to extract the dynamical response and correlations. The motivation for studying nonequilibrium systems is the very simple fact that they are ubiquitous in nature and exhibit very rich, diverse and often counter-intuitive phenomenon. We ourselves are an example of a very complex nonequilibrium system. This thesis examines three problems which illustrate the generic features of a typical driven system maintained out of thermal equilibrium. The first chapter provides a very brief discussion of nonequilibrium systems. We outline the tools that are commonly employed in the theoretical description of driven systems, and discuss the response of physical systems to applied perturbations. Chapter two considers a very simple model for a single self-propelled particle with an internal asymmetry, and nonequilibrium energy input in the form of Gaussianwhite noise. Our model connects three key nonequilibrium quantities – drift velocity, mean internal force and position-velocity correlations. We examine this model in detail and solve it using perturbative, numerical and exact methods. We begin chapter three with a brief introduction to the sedimentation of particle-fluid suspensions. Some peculiarities of low Reynolds number hydrodynamics are discussed with particular emphasis on the sedimentation of colloidal particles in a viscous fluid. We then introduce the problem of velocity fluctuations in steady sedi-mentation. The relevance of the current study to an earlier model and improvements made in the present work are then discussed. A physical understanding of our model and the conclusions that result from its analysis are an attempt to resolve the old problem of divergent velocity fluctuations in steadily sedimentating suspensions. The fourth chapter is a study to probe the nature of the fluctuations in a driven suspension of point-particles. Fluctuation relations that characterise large-deviations are a current topic of intense study. We show in this chapter that the random dynamics of suspended particles in a driven suspension occasionally move against the driving force, and that the probability of such rare events obeys a steady state fluctuation relation. In the final chapter, we summarise the models studied and point out the common features that they display. We conclude by pointing out some ways in which the problems discussed in this thesis can be extended upon in the future.

Ce travail de thèse porte sur le développement et la modélisation d'actionneurs piézo-électriques à densité d'efforts élevés et pouvant produire des mouvements de rotation et de translation. Une étude comparative des différentes structures d'actionneurs a mis en évidence le potentiel électromécanique intéressant de l'actionneur cylindrique à rotation de mode. Une étude approfondie de ce dernier a été entreprise et a permis de le modéliser analytiquement par des schémas de Mason ou par des méthodes variationnelles. Cette dernière approche a permis également de retrouver les paramètres électromécaniques du moteur à partir de simulations par éléments finis (ANSYS). Des prototypes d'actionneurs diphasés et monophasés ont été réalisés et ont permis de valider les modèles développés. Leurs alimentations résonantes associées ont également été étudiées. L'objectif suivant a été d'intégrer au sein de la structure du moteur à rotation de mode un dispositif permettant d'assurer le degré de liberté supplémentaire en translation. Le choix s'est porté ici sur un fonctionnement original de type inchworm permettant de découpler cette fonction du mouvement rotatif résonant. Un prototype a permis de valider le principe de fonctionnement en translation de l'actionneur. Une alimentation MLI à commutation douce a été réalisée afin de pouvoir générer les formes d'ondes exigeant une large plage de fréquences (du continu à plusieurs dizaines de kHz).