Thesis (Ph. D.)--Oregon State University, 2006. / Printout. Includes bibliographical references (leaves 71-79). Also available on the World Wide Web.

A Stewart Platform robot was designed, constructed, and programmed for use in Cal Poly’s ME 423 Robotics: Fundamentals and Applications laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry and inverse kinematics were modeled and animated using MATLAB. The platform was then built using linear actuators, magnetic spherical bearings, and acrylic plates. Control of the Stewart Platform is achieved using an Arduino Due and a custom HexaMoto shield. Users interact with the system using a GUI created with MATLAB’s App Designer.

Nessa pesquisa é apresentada uma inovação tecnológica em aplicações de controle de posição em máquinas e/ou dispositivos: o Controlador de Posição Linear Hidro- Pneumático. Para os casos nos quais têm-se grandes esforços combinados com pequenos deslocamentos, normalmente esse trabalho é feito com o uso de Sistemas Servo-Hidráulcos nos quais, devido às características mencionadas do nicho de mercado visado pela presente proposta, representam um custo elevado quando comparado com a solução Hidro-Pneumática aqui descrita. Salienta-se a simplicidade da infra-estrutura requerida para a instalação dessa alternativa, e também a redução do desperdício energético com relação à tecnologia tradicional com a Servo-Hidráulica. Observou-se nos testes com o protótipo, um excelente desempenho do sistema em termos de rapidez de resposta, como ainda no quesito resolução de posicionamento cujos valores encontrados apresentam-se na casa de 0,05 segundos e 0,01 mm, respectivamente. O pequeno tamanho físico obtido com essa nova tecnologia é outro item relevante, permitindo-se o seu emprego em locais de reduzido espaço disponível. . Resultados de simulações numéricas e de testes experimentais são apresentadas, bem como perspectivas de desenvolvimentos futuros. / This research presents a technological innovation for applications in machine / device position control: the Hydro-Pneumatic Linear Position controller. In cases where great efforts are combined with small dislocations, this task is normally accomplished by means of Servo Hydraulic Systems that, due to particular characteristics of the market envisaged by the present proposition, represent elevated costs, when compared to those of the hydro-pneumatic solution described here. This work presents an analytical numerical model for the devise as well as an experimental prototype. It worth noting the infra-structure simplicity required for this alternative implementation, and also the reduction in energy waste when compared to the traditional servo-hydraulic technology. The prototype experimental tests demonstrated the system excellent behavior in what concerns answer speed and position resolution whose values were respectively in range 0.05 s and 0,01 mm. The small physical size obtained with this technology is another relevant item, which allows the device use in places of reduced available space. Numerical simulation and experimental test results are presented as well as perspectives of future developments

Nessa pesquisa é apresentada uma inovação tecnológica em aplicações de controle de posição em máquinas e/ou dispositivos: o Controlador de Posição Linear Hidro- Pneumático. Para os casos nos quais têm-se grandes esforços combinados com pequenos deslocamentos, normalmente esse trabalho é feito com o uso de Sistemas Servo-Hidráulcos nos quais, devido às características mencionadas do nicho de mercado visado pela presente proposta, representam um custo elevado quando comparado com a solução Hidro-Pneumática aqui descrita. Salienta-se a simplicidade da infra-estrutura requerida para a instalação dessa alternativa, e também a redução do desperdício energético com relação à tecnologia tradicional com a Servo-Hidráulica. Observou-se nos testes com o protótipo, um excelente desempenho do sistema em termos de rapidez de resposta, como ainda no quesito resolução de posicionamento cujos valores encontrados apresentam-se na casa de 0,05 segundos e 0,01 mm, respectivamente. O pequeno tamanho físico obtido com essa nova tecnologia é outro item relevante, permitindo-se o seu emprego em locais de reduzido espaço disponível. . Resultados de simulações numéricas e de testes experimentais são apresentadas, bem como perspectivas de desenvolvimentos futuros. / This research presents a technological innovation for applications in machine / device position control: the Hydro-Pneumatic Linear Position controller. In cases where great efforts are combined with small dislocations, this task is normally accomplished by means of Servo Hydraulic Systems that, due to particular characteristics of the market envisaged by the present proposition, represent elevated costs, when compared to those of the hydro-pneumatic solution described here. This work presents an analytical numerical model for the devise as well as an experimental prototype. It worth noting the infra-structure simplicity required for this alternative implementation, and also the reduction in energy waste when compared to the traditional servo-hydraulic technology. The prototype experimental tests demonstrated the system excellent behavior in what concerns answer speed and position resolution whose values were respectively in range 0.05 s and 0,01 mm. The small physical size obtained with this technology is another relevant item, which allows the device use in places of reduced available space. Numerical simulation and experimental test results are presented as well as perspectives of future developments

This diploma thesis deals with the mechanical proposal of hydraulic puller. Furthermore, it includes the detail design solutions. The project also includes the calculation of the hydraulic puller parameters: maximum pushing force is 60 kN, speed of movement is 0.1 m s-1. This work also contains of stress analysis FEM with I-DEAS software. Following part deals with the design of hydraulic circuit for driving puller. At the end of work there are options for replacements of hydraulic puller by mechanical systems.

Railway safety is an issue that is closely related to people. Hazards such as a collision between two trains can result in severe casualties, necessitating the utmost level of safety measures. Linear actuators control the direction of the train and are critical devices in train operation. Therefore, the safety requirements for linear actuators are high; several internationally accepted standards can help regulate the design of railways and specify safety standards. EN 50129 and EN 50126 are critical standards to follow. This thesis presents two motor controller designs that can be used in linear actuators with high safety quality. This thesis contains two designs, a basic design and an advanced design. The first part of the thesis is the basic design. The basic design is based on the full bridge structure and combines two out of two logic. After integrating metal-oxide-semiconductor field-effect transistors, gate drivers, and DC-DC converter, the basic design is presented following the safety integrated level 4 requirements of EN 50129. A fault tree analysis and a common cause failure analysis are added. The failure rate after fault tree analysis is 2E −14 . The second part of the thesis presents an advanced design based on the basic design and introduces an Automotive Safety Integrated Level D-compliant gate driver according to ISO 26262. It improves the previous design of the DC full bridge to have about 50 percent fewer components. Meanwhile, the advanced design also gives a supplement and refinement of the basic design to advance the possibility of practical application. Failure tree analysis failure mode effects, criticality analysis analysis, and availability argument are then carried out with the advanced design. According to fault tree analysis, the failure rate of the advanced design is 2E−14. / Järnvägssäkerhet är en fråga som är nära relaterad till människor. Faror som en kollision mellan två tåg kan resultera i allvarliga olyckor, vilket kräver högsta möjliga säkerhetsåtgärder. Linjära ställdon styr tågets riktning och är kritiska enheter i tågdrift. Därför är säkerhetskraven för linjära ställdon höga; flera internationellt accepterade standarder kan hjälpa till att reglera utformningen av järnvägar och specificera säkerhetsstandarder. EN 50129 och EN 50126 är kritiska standarder att följa. Denna avhandling presenterar två motorstyrningskonstruktioner som kan användas i linjära ställdon med hög säkerhetskvalitet. Detta examensarbete innehåller två designs, en grundläggande design och en avancerad design. Den första delen av examensarbetet är den grundläggande designen. Den grundläggande designen är baserad på hela brostrukturen och kombinerar två av två logik. Efter att ha integrerat metall-oxid-halvledarfälteffekttransistorer, gate-drivrutiner och DC-DC-omvandlare presenteras den grundläggande designen enligt de säkerhetsintegrerade nivå 4-kraven i EN 50129. En felträdsanalys och en analys av vanlig orsaksfel läggs till. Felfrekvensen efter felträdsanalys är 2E−14. Den andra delen av avhandlingen presenterar en avancerad design baserad på den grundläggande designen och introducerar en Automotive Safety Integrated Level D-kompatibel grinddrivare enligt ISO 26262. Den förbättrar den tidigare designen av DC-fullbryggan för att ha cirka 50 procent färre komponenter. Samtidigt ger den avancerade designen också ett komplement och förfining av den grundläggande designen för att främja möjligheten till praktisk tillämpning. Felträdanalys fellägeseffekter, analys av kritikalitet och tillgänglighetsargument utförs sedan med den avancerade designen. Enligt felträdsanalys är felfrekvensen för den avancerade designen 2E−14.