This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series ...

In part I of this paper (previous issue of Robotica) a dual stage system with the coarse and fine actuators is adopted to achieve sub-micron accuracy with a large working space for the proposed new three degree-of-freedom (DOF) miniaturized micro parallel mechanism with high mobility and one type of the architecture with vertical actuator locations in all three legs (C-VV type) among six possib...

This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis...

This paper states an approach to actuator and sensor positioning optimization and design in the control system design of a large blended wing body (BWB) passenger aircraft. Numerous objectives have to be achieved by the control system: loads alleviation, vibration attenuation, and the fulfillment of handling quality requirements. Exploiting the system structure and existing system knowledge (ex...

Present work delivers a systematical evaluation of actuation efficiency of a nano-particle electrode conducting polymer actuator fabricated based on Nitrile Butadiene Rubber (NBR). Attempts are made for maximizing mechanical functionality of the nano-particle electrode conducting polymer actuator that can be driven in the air. As the conducting polymer polypyrrole of the actuator is to be fabri...

We proposed an innovative simple and smart microfluidic gel actuator, which is made of photoprocessible thermoresponsible gel, for the disposable biomedical chip application. The smart gel is called “Bioresist”, and arbitral shape with micrometer order can be patterned on microfluidic chip by standard photolithography technique. Furthermore, the proposed actuator can be actuated only by heating...

The nonlinear pull-in behaviors of various electrostatic micro-actuators were simulated. The differential quadrature method (DQM) was applied to overcome the difficulty in solving the nonlinear equation of motion. Various types of micro-actuators, such as the cantilever beam actuator and the fixed-fixed beam actuator were derived and simulated to examine the feasibility of applying the DQM to t...

We have been developing electromagnetic spherical actuators capable of three-degree-of-freedom rotation. However, these actuators require complex control to realize simultaneous triaxial drive, because rotation around one axis interferes with rotation around another. In this paper, we propose a new three-degree-of-freedom actuator where 3-axes rotation can be controlled easily. The basic struct...

This report introduces Shape Memory Alloys, describes properties of SMA as an actuator and introduces some available commercial SMA actuator products.

The paper presents the results of an active structural control experiment performed under microgravity conditions. The test has been conducted during an ESA parabolic flight campaign, aboard a Caravelle aeroplane. The structure is a simple cantilevered steel beam with a proof-mass actuator located at the free end. The actuator is a voice-coil linear dc motor built in house with simple and readi...