Experiments with a new piezoelectric rotary actuator

2002 ◽  
Author(s):  
T. Hack
Keyword(s):  
Rotary Actuator

Concept for a 3D-printed soft rotary actuator driven by a shape-memory alloy

2018 ◽  
Vol 27 (5) ◽  
pp. 055005 ◽  
Author(s):  
Han Yuan ◽  
Frédéric Chapelle ◽  
Jean-Christophe Fauroux ◽  
Xavier Balandraud
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Rotary Actuator ◽  
3D Printed

New Type of Hydraulic Rotary Actuator; Development and Application in a Large Telerobotic Manipulator System

2001 ◽  
Author(s):  
John R. Haas
Keyword(s):  
Modular Design ◽  
Large Diameter ◽  
Stick Slip ◽  
Precision Motion Control ◽  
Constant Torque ◽  
Rotary Actuator ◽  
Continuous Rotation ◽  
Potential Applications ◽  
New Type ◽  
Precision Motion

Abstract This paper describes a new type of hydraulic rotary actuator specifically developed to provide precision motion control in a very large, man rated, underwater telerobotic manipulator system. The high pressure, high torque rotary actuators are hydrostatically balanced, provide continuous rotation, constant torque output, exhibit minimal “stick-slip” and zero backlash. It is believed that the combination of features and the performance exhibited by these actuators represent an improvement in actuator technology to such an extent as to make projects previously determined unfeasible, now practical. Features of particular design value are a very large diameter through bore, and a truly modular design permitting use as an integral structural member. This paper will address design rationale, operating principles, key design features, product development highlights, an astronaut trainer case study, future development and potential applications.

scholarly journals Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

2018 ◽  
Vol 8 (9) ◽  
pp. 1623 ◽  
Author(s):  
Ke Li ◽  
Yeming Zhang ◽  
Shaoliang Wei ◽  
Hongwei Yue
Keyword(s):  
Differential Evolution ◽  
Evolutionary Algorithm ◽  
Differential Evolution Algorithm ◽  
Servo System ◽  
Control Architecture ◽  
Tracking Accuracy ◽  
Pd Control ◽  
Compensation Control ◽  
Position Accuracy ◽  
Rotary Actuator

The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load.

A piezoelectric inertia rotary actuator based on asymmetric clamping mechanism

2015 ◽  
Vol 22 (8) ◽  
pp. 1975-1981 ◽  
Author(s):  
Ji Jie Ma ◽  
Jian Ming Wen ◽  
Guang Ming Cheng ◽  
Ping Zeng
Keyword(s):  
Rotary Actuator

A new inertial piezoelectric rotary actuator based on changing the normal pressure

2012 ◽  
Vol 19 (2) ◽  
pp. 277-283 ◽  
Author(s):  
Jianming Wen ◽  
Jijie Ma ◽  
Ping Zeng ◽  
Guangming Cheng ◽  
Zhonghua Zhang
Keyword(s):  
Normal Pressure ◽  
Rotary Actuator

Piezoelectric inertial rotary actuator with variable normal pressure and asymmetric gripper

2015 ◽  
Vol 23 (5) ◽  
pp. 1365-1371
Author(s):  
马继杰 MA Ji-jie ◽  
张海滨 ZHANG Hai-bin ◽  
程光明 CHENG Guang-ming ◽  
曾平 ZENG Ping ◽  
温建明 WEN Jian-ming ◽  
...  
Keyword(s):  
Normal Pressure ◽  
Rotary Actuator

scholarly journals Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System

Energies ◽  
2019 ◽  
Vol 12 (6) ◽  
pp. 1096 ◽  
Author(s):  
Yeming Zhang ◽  
Ke Li ◽  
Geng Wang ◽  
Jingcheng Liu ◽  
Maolin Cai
Keyword(s):  
Heat Transfer ◽  
Linear Model ◽  
Mass Flow Rate ◽  
Mass Flow ◽  
Flow Rate ◽  
Experimental Verification ◽  
Servo System ◽  
Rotary Actuator ◽  
Non Linear ◽  
Position Servo

In order to accurately reflect the characteristics and motion states of a pneumatic rotary actuator position servo system, an accurate non-linear model of the valve-controlled actuator system is proposed, and its parameter identification and experimental verification are carried out. Firstly, in the modeling of this system, the mass flow rate of the gas flowing through each port of the proportional directional control valve is derived by taking into account the clearance between the valve spool and the sleeve, the heat transfer formula is used to the derivation of the energy equation, and the Stribeck model is applied to the friction model of the pneumatic rotary actuator. Then, the flow coefficient, the heat transfer coefficient and the friction parameters are identified by the model and pneumatic test circuits. After the verification experiment of the mass flow rate equations, the charging and discharging experiment reveals that the model can clearly show the effect of clearances on gas pressure changes and describe the effect of heat transfer on gas temperature changes. Finally, the results of model verification indicate that the simulation curves of rotation angle and two-chamber pressures are consistent with their experimental values, and the non-linear model shows high accuracy.

Sign in / Sign up

Export Citation Format

Share Document