Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot

1995 ◽  
Vol 7 (6) ◽  
pp. 474-482 ◽  
Author(s):  
Yasuhiro Hayakawa ◽  
◽  
Sadao Kawamura ◽  
Keyword(s):  
Dynamic Characteristics ◽  
Pressure Sensors ◽  
Force Sensor ◽  
Experimental Results ◽  
Pneumatic Actuator ◽  
Force Sensing ◽  
Friction Forces ◽  
Static And Dynamic Characteristics ◽  
Metal Bellows ◽  
External Forces

In this paper, we design a new pneumatic actuator using metal bellows. Because this actuator has no sliding parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good performance in positioning and generating exact desired forces. Furthermore, because external forces can be precisely measured through pressure sensors, the bellows actuator works as a force sensor. In order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. Based on these experimental results, the capability of the bellows sensor becomes clear. We use the bellows actuator as a sensing actuator which works as a sensor and an actuator simultaneously. In addition, the effectiveness of the actuator is demonstrated through several experimental results. We design one joint of a robot which is antagonistically activated by the two bellows actuators. Based on some experimental results, we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by utilizing the force sensing ability.

Evaluation of SiC Stack Cascode for 200°C Operations

2014 ◽  
Vol 778-780 ◽  
pp. 879-882 ◽  
Author(s):  
Xue Qing Li ◽  
Petre Alexandrov ◽  
John Hostetler ◽  
Anup Bhalla
Keyword(s):  
Dynamic Characteristics ◽  
Threshold Voltage ◽  
Load Condition ◽  
Experimental Results ◽  
Reliability Test ◽  
Inductive Load ◽  
Static And Dynamic Characteristics

This paper evaluates the static and dynamic characteristics of a 1.2kV SiC stack-cascode at junction temperatures (Tj) up to 200°C. The experimental results show that, at Tj = 200°C, the SiC stack-cascode can be switched stably under a 600V-17A inductive load condition and can withstand an avalanche current of 13A for 9μs (Eav = 116mJ) for a 1.5mH load inductor. The SiC stack-cascode has no degradation in on-resistance, threshold voltage and blocking characteristics after 80 hours HTRB reliability test at 200°C ambient. These promising experimental results indicate the possibility of the SiC stack-cascode for reliable 200°C operations.

Miniature Continuum Manipulator with 3-DOF Force Sensing for Retinal Microsurgery

2021 ◽  
pp. 1-34
Author(s):  
Tianci Zhang ◽  
Zhongyuan Ping ◽  
Siyang Zuo
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Force Sensor ◽  
Experimental Results ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Clinical Value ◽  
Artificial Eye ◽  
Force Sensitivity ◽  
Continuum Manipulator

Abstract Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible surgical procedures and obtain imperceptible force information, thereby improving the safety and efficiency of microsurgery. In this study, we present an intraocular continuum manipulator with three degrees of freedom (DOF) force sensing capabilities. A contact-aided compliant mechanism based on cutting superelastic Nitinol tubes is used to provide high dexterity. It enables two rotational DOFs at the distal end of the manipulator. Fiber Bragg grating (FBG) fibers are used to provide high-resolution force measurements. Moreover, a novel Nitinol flexure was designed to achieve high axial force sensitivity. The experimental results show that the maximum bending angle of the dexterous tip is more than ±45° for each DOF with high repeatability. In addition, the experimental results demonstrate that the proposed force sensor can provide sub-millinewton resolution. Conclusion: The manipulator has also been validated with an artificial eye model, demonstrating the potential clinical value of the manipulator for retinal microsurgery.

Damping Performance of Polychloroprene Rubber for Unconstrained Damping Applications

2021 ◽  
Vol 106 ◽  
pp. 131-136
Author(s):  
Prasanth Kumar Mallipudi ◽  
Padala Jyothi ◽  
N. Ramanaiah ◽  
V.V.S. Bhaskara Raju
Keyword(s):  
Vibration Control ◽  
Layer Thickness ◽  
Dynamic Characteristics ◽  
Loss Factor ◽  
Structural Response ◽  
Experimental Results ◽  
Viscoelastic Layer ◽  
Damping Properties ◽  
Structural Damping ◽  
Static And Dynamic Characteristics

Damping properties are crucial in determining the dynamic structural response. In this paper, the experimental results for Neoprene rubber of 40, 50 and 60 shore A hardness are reported in view of improving structural damping to control noise and vibrations. Additionally, the system loss factors of the unconstrained layer damped structures of same material were predicted by Ross-Kerwin-Ungar equation to validate the obtained experimental results. The results showed that Neoprene rubber (also known as Polychloroprene) of 60 shore A showed better static and dynamic characteristics than those of the 40 and 50 shore A hardness. The system loss factor results reached the saturation when the applied viscoelastic layer thickness was increased from 40 mm to 50 mm in unconstrained damping. As such, the proposed method can help to build a database of the properties of various materials which are applicable in the design of noise and vibration control.

scholarly journals TORQUE MEASURING CHANNELS: DYNAMIC AND STATIC METROLOGICAL CHARACTERISTICS

2020 ◽  
Vol 10 (3) ◽  
pp. 82-85
Author(s):  
Vasyl Kukharchuk ◽  
Valerii Hraniak ◽  
Samoil Katsyv ◽  
Volodymyr Holodyuk
Keyword(s):  
Dynamic Characteristics ◽  
Force Sensor ◽  
Measuring Channel ◽  
Metrological Characteristics ◽  
Capacitance Sensor ◽  
Static And Dynamic Characteristics

A formalized method for obtaining the analytical dependencies for the evaluation of the main dynamic and static metrological characteristics of a torque measuring channel with a capacitance sensor operating under the regulation of a microcontroller is proposed. The static and dynamic characteristics of such a typical torque measuring channel based on a capacitance force sensor were evaluated.

Static and Dynamic Characteristics of Oil Lubricated Beveled-Step Herringbone-Grooved Journal Bearings

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
M. M. Nemat-Alla ◽  
A. M. Gad ◽  
A. A. Khalil ◽  
A. M. Nasr
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Hydrodynamic Lubrication ◽  
Journal Bearings ◽  
Friction Torque ◽  
Experimental Results ◽  
Static And Dynamic Characteristics ◽  
Thrust Bearings ◽  
Rectangular Profile ◽  
The Stability

Recently, herringbone-grooved journal bearings (HGJBs) have important applications in high-speed rotating machinery. The groove action in pumping the lubricating fluid inward generates supporting stiffness and improves the stability of the bearing when operating concentrically. Several researchers have investigated the static and dynamic characteristics of HGJBs and grooved thrust bearings. Most of these investigations were theoretical and concentrated on HGJBs with rectangular-profile grooves. In the present work, the static and dynamic characteristics of the beveled-step HGJBs are experimentally investigated. The bearing attitude angle, pressure distribution, and bearing friction torque were measured on a hydrodynamic lubrication unit, and then the static and dynamic characteristics were determined. The obtained experimental results are compared to the obtained experimental results for plain journal bearing. The merits as well as the demerits of the groove profile were discussed through comparisons with plain journal bearings.

scholarly journals Dynamic Characteristics and Anti-slip Grasping of Two-Finger Translational Manipulator

2021 ◽  
Vol 15 ◽  
Author(s):  
Wei Liu ◽  
Jin Cheng ◽  
Ping Wan ◽  
Cheng Jing ◽  
Yongheng Ma ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Small Deformation ◽  
Force Sensor ◽  
Experimental Results ◽  
System Structure ◽  
Automation System ◽  
Rubber Gasket ◽  
Grasping Force ◽  
Geometric Relationship ◽  
The Relationship

Aiming at the problem of deformation and slip of disc-shaped rubber gasket in the process of grasping, a two-finger translational manipulator based on ABB1410 robot is designed. The kinematics model of the two-finger translational manipulator is established, and the geometric relationship between the motor angle and grasp position is obtained. Based on the two-dimensional force sensor, the dynamic characteristics of the two-finger translational manipulator were studied, and the relationship between the grasping force and the deformation and slip of the disc-shaped rubber gasket was obtained. A prototype of two-finger translational manipulator is developed. The experimental results show that when the grasping force is 5 N, small deformation and stable grasping can be achieved. The grasping and handling process of disk-shaped rubber gasket is designed based on Robot Studio software, and the verification experiments were carried out. The experimental results show that the system can achieve the small deformation and stable grasping of flexible objects, which is consistent with the simulation results. The research can provide theoretical and experimental basis for the design of automation system structure and process control.

Simulation of Dynamic Characteristics of Pneumatic Control Valve With Smart Valve Positioner

2019 ◽  
Author(s):  
Chongho Youn ◽  
Kenji Saito ◽  
Motohiro Furuya
Keyword(s):  
Dynamic Characteristics ◽  
Effective Cross Section ◽  
Control Valve ◽  
Pressure Change ◽  
Pneumatic Actuator ◽  
Displacement Sensor ◽  
Friction Forces ◽  
Pneumatic Control ◽  
Gland Packing ◽  
Pilot Valve

Abstract In this research, in order to predict the dynamic characteristics of a regulating valve, a mathematical model is proposed for a pneumatic control valve using a smart valve positioner (AVP300), and the dynamic characteristics of the control valve were simulated. We modeled the components of the control valve (i.e., nozzle flapper, pilot valve, Auto/Manual (A/M) screw, bleed orifice, pneumatic actuator, gland packing, and pressure reducing valve), and simulated the dynamic characteristics using SimulationX, a one-dimensional analysis software. For the nozzle flapper, we proposed a model that considers the influence of fluid force due to pressure change as well as the influence of the change in effective area by measuring the displacement, pressure, and flow rate of the nozzle flapper. The diaphragm chamber, which operates the pilot valve of the positioner, was made of transparent acrylic. The displacement of the pilot valve was measured by a laser displacement sensor, and its movement against pressure change was clarified. The sonic speed conductance and critical pressure ratio of the A/M screw and bleed orifice were determined experimentally and reflected in the model. In the pneumatic actuator, the effective cross-section of the diaphragm was obtained from the change in pressure and displacement. The change in volume was calculated from the experiment using a fixed chamber. The friction force of gland packing was modeled using static and dynamic friction forces. The experiment on the dynamic characteristics of valve displacement was performed with the input signal of the valve displacement set from 20% to 80%. A comparison of the experimental results of the valve displacement and simulation results showed good agreement. The simulation in this study is considered effective in predicting the dynamic characteristics of the control valve.

scholarly journals Measurement of Applied Force and Deflection in the Javelin Throw

1999 ◽  
Vol 15 (4) ◽  
pp. 429-442 ◽  
Author(s):  
Masato Maeda ◽  
Eiji Shamoto ◽  
Toshimichi Moriwaki ◽  
Haruo Nomura
Keyword(s):  
Dynamic Characteristics ◽  
Force Sensor ◽  
Applied Force ◽  
Static And Dynamic Characteristics

The present paper presents a new sensor to measure 6 components of force and 2 components of deflection applied to the javelin during the throw. Since the javelin is deflected and vibraled during throwing, measurement of force and deflection applied to the javelin will provide important information for throwers in how to better throw the javelin and to design javelins with better dynamic characteristics. The sensor is designed not to significantly change the static and dynamic characteristics of the javelin. The force sensor performs well in terms of linearity and crosstalk, and the javelin equipped with this sensor has similar characteristics to ordinary javelins. The present paper also presents an example of measurement in the javelin throw.

Sign in / Sign up

Export Citation Format

Share Document