ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: Bio actuator Artificial MuscleOutlineReference listTo explore further (survival pointers of web references etc)Bio-ActuatorsThree major categories: Cytoskeleton/microtubules Within the cell, controlling its shape and movements of its organelles Cilia/flagella External, propulsion of the entire cell Muscle Skeletal (voluntary control) Cardiac or smooth (involuntary control)Basic Working PrincipleMajor applicationsPneumatic Artificial Muscles (PAMs)Operating PrinciplePAM OPERATIONThis is one of the rare occasions where using a hydraulic actuation makes sense. The surrounding fluid is the same as the driving fluid, eliminating the weight problem. In these conditions, using gas would actually create roblems due to the upward force that would act on the gas. The manipulator has a seven DOF arm and a three fingered hand. It is designed to carry a payload of 5 kg and has a weight of 18 kg. Several authors suggested other, somewhat far-fetched applications that never really found any practical use. Examples of these are rotary engines, driven by radially set up muscles, a set-up to generate biological actions such as that of a sphincter, an active vehicle suspension and a borescope steering section. In our laboratory Pleated Muscles have been used to power a hopping leg [41]. These muscles perform excellently in this application as they are extremely lightweight and allow for a spring-like operation of the leg. Energy is stored as a pressure increase in the extensor muscle: as the leg hits the ground it bends and the extensor is stretched and thereby its volume decreases. This energy is released as work when the leg starts moving upwards and the extensor contracts.Slide 13Properties of the ActuatorsAntagonistic set-up: As this muscle's pressure changes, its force graph is scaled accordingly and the equilibrium will move to the new points of intersection of the graphs. If,on the contrary, both pressures are scaled by the same factor, the force graphs will be so equally and their intersection point will remain at the same value of position. Hence, only the ratio of gauge pressures will determine the equilibrium position.Skeletal Muscle Resemblance: PAMs resemble skeletal muscle insofar that both are linear contractile engines having a monotonically decreasing load-contraction relation (although this is not always the case for skeletal muscle). Both have to be set up antagonistically in order to get bidirectional motion and both are able to control joint compliance. A lot of differences, however, exist.Slide 17Lightweight and strong: As already mentioned before, these actuators are extremely lightweight because their main component is a membrane. Yet, they can be made very strong with forces ranging up to several thousands Newtons. Power to weight ratios are in the order of magnitude of several kW/kg. Direct connection: In many applications, e.g. positioning systems, electric drives need a speed reduction because of their high revolution speeds and low values of torque. Such gearing introduces unwanted phenomena in the system, such as backlash and extra inertia. PAMs can be directly connected to the structure they power: they easily fit in because they are small and, more importantly, their values of speed and force generally are in the range of what is needed.Typical applicationsSlide 20Slide 21Slide 22Where to buyconcluding remarksSlide 25ECE5320 MechatronicsECE5320 MechatronicsAssignment#01: Literature Survey on Sensors Assignment#01: Literature Survey on Sensors and Actuators and Actuators Topic: Bio actuatorTopic: Bio actuatorArtificial MuscleArtificial MusclePrepared by:Prepared by:Soujanya KuraviSoujanya KuraviDept. of Electrical and Computer Engineering Dept. of Electrical and Computer Engineering Utah State UniversityUtah State UniversityE: ; T: (817)-201-7748; F: (435)797-3054 (ECE E: ; T: (817)-201-7748; F: (435)797-3054 (ECE Dept.)Dept.)3/10/200601/14/1901/14/19ECE5320 Mechatronics. AssignmenECE5320 Mechatronics. Assignment#1 Survey on sensors and actuat#1 Survey on sensors and actuatorstors22Outline Outline –Reference listReference list–To probe furtherTo probe further–Basic working principle illustratedBasic working principle illustrated–Major applicationsMajor applications–A typical sample configuration in A typical sample configuration in application: Artificial Muscleapplication: Artificial Muscle– Major specificationsMajor specifications–LimitationsLimitations–And many more relevant issues in And many more relevant issues in applicationsapplications– ( where to buy etc.)( where to buy etc.)01/14/1901/14/19ECE5320 Mechatronics. AssignmenECE5320 Mechatronics. Assignment#1 Survey on sensors and actuat#1 Survey on sensors and actuatorstors33Reference listReference list http://courses.washington.edu/mengr599/tm_taya/notes/b1.pdfhttp://courses.washington.edu/mengr599/tm_taya/notes/b1.pdf http://lucy.vub.ac.be/publications/Daerden_Lefeber_EJMEE.pdfhttp://lucy.vub.ac.be/publications/Daerden_Lefeber_EJMEE.pdfD. G. Caldwell, G. A. Medrano-Cerda and M. J. Goodwin,"Braided D. G. Caldwell, G. A. Medrano-Cerda and M. J. Goodwin,"Braided pneumatic actuator control of a multi-jointed manipulator", Proceedings of pneumatic actuator control of a multi-jointed manipulator", Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pp. the IEEE International Conference on Systems, Man and Cybernetics, pp. 423–428, Le Touquet, 1993.423–428, Le Touquet, 1993. J. M. Yarlott, "Fluid actuator", US Patent No. 3 645 173, 1972. J. M. Yarlott, "Fluid actuator", US Patent No. 3 645 173, 1972. H. M. Paynter, "Hyperboloid of revolution fluid-driven tension H. M. Paynter, "Hyperboloid of revolution fluid-driven tension actuators and methods of making", US Patent No. 4721 030, actuators and methods of making", US Patent No. 4721 030, 1988.1988.G. Immega, and M. Kukolj, "Axially contractible actuator",US G. Immega, and M. Kukolj, "Axially contractible actuator",US Patent No. 4 939 982, 1990.Patent No. 4 939 982, 1990.M. Kukolj, "Axially contractible actuator", US PatentNo. 4 733 M. Kukolj, "Axially contractible actuator", US PatentNo. 4 733 603, 1988.603, 1988.01/14/1901/14/19ECE5320 Mechatronics. AssignmenECE5320 Mechatronics. Assignment#1 Survey on sensors and actuat#1 Survey on sensors and actuatorstors44To explore further To explore further
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