Spin Testing of Pneumatic Artificial Muscle Systems for Helicopter Rotor Applications

2007 ◽  
Author(s):  
Edward A. Bubert ◽  
Benjamin K. S. Woods ◽  
Jayant Sirohi ◽  
Curt Kothera ◽  
Norman Wereley
Keyword(s):  
Rotor Blade ◽  
Artificial Muscle ◽  
Helicopter Rotor ◽  
Artificial Muscles ◽  
Primary Control ◽  
Pneumatic Actuators ◽  
Actuation System ◽  
Trailing Edge Flap ◽  
Minor Losses ◽  
Careful Design

This research investigates the feasibility of using Pneumatic Artificial Muscles (PAMs) to drive a rotor blade Trailing Edge Flap (TEF) for primary control and/or vibration reduction. Specifically, this work investigates the effects of operating these compliant, pneumatic actuators under the high CF loading typical of a helicopter rotor blade. A prototype TEF actuation system was designed and built. It was tested in a vacuum whirl chamber over a range of centrifugal accelerations. Bi-directional actuation was performed to track changes in system performance with increasing CF field. Additionally, testing was performed under different levels of torsional spring loading to simulate aerodynamic hinge moment effects. Results of these tests motivated a second experiment wherein the effects of CF loading on the PAMs themselves are isolated from the rest of the system. This was accomplished by fixing the ends of PAM and performing blocked force testing over a range of centrifugal accelerations. Taken together, these tests show that chordwise PAM actuators are capable of operating under high CF loading with only minor losses in performance. Additionally, the need for careful design of actuation and flap system components for operation in this harsh environment is reiterated.

scholarly journals Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

2018 ◽  
Vol 48 (1) ◽  
pp. 23-36 ◽  
Author(s):  
Dimitar Chakarov ◽  
Ivanka Veneva ◽  
Mihail Tsveov ◽  
Pavel Venev
Keyword(s):  
Upper Limb ◽  
Joint Stiffness ◽  
Artificial Muscles ◽  
Joint Motion ◽  
Robot Interaction ◽  
Pneumatic Actuators ◽  
Joint Torques ◽  
Actuation System ◽  
Pneumatic Muscles ◽  
Pneumatic Artificial Muscles

AbstractThe actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual “man-robot” interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

2014 ◽  
Vol 23 (9) ◽  
pp. 095014 ◽  
Author(s):  
Benjamin K S Woods ◽  
Curt S Kothera ◽  
Gang Wang ◽  
Norman M Wereley
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Trailing Edge ◽  
Actuation System ◽  
Trailing Edge Flap

Design and testing of a high-specific work actuator using miniature pneumatic artificial muscles

2012 ◽  
Vol 23 (3) ◽  
pp. 365-378 ◽  
Author(s):  
Robert D. Vocke ◽  
Curt S. Kothera ◽  
Anirban Chaudhuri ◽  
Benjamin K.S. Woods ◽  
Norman M. Wereley
Keyword(s):  
Angular Rate ◽  
Active Material ◽  
Small Scale ◽  
Artificial Muscles ◽  
Prototype System ◽  
Specific Work ◽  
Pneumatic Actuators ◽  
Actuation System ◽  
Angular Deflection ◽  
Pneumatic Artificial Muscles

Micro-air vehicle (MAV) development is moving toward smaller and more capable platforms to enable missions such as indoor reconnaissance. This miniaturization creates challenging constraints on volume and energy generation/storage for all systems onboard. Actuator technologies must also address these miniaturization goals. Much research has focused on active material systems, such as piezoelectric materials and synthetic jets, but these advanced technologies have specific, but limited, capability. Conventional servo technology has also encountered concerns over miniaturization. Motivation has thus been established to develop a small-scale actuation technology prototype based on pneumatic artificial muscles, which are known for their lightweight, high-output, and low-pressure operation. The miniature actuator provides bidirectional control capabilities for a range of angles, rates, and loading conditions. Problems addressed include the scaling of the pneumatic actuators and design of a mechanism to adjust the kinematic load-stroke profile to suit the pneumatic actuators. The kinematics of the actuation system was modeled, and a number of bench-top configurations were fabricated, assembled, and experimentally characterized. Angular deflection and angular rate output of the final bench-top prototype system are presented, showing an improvement over conventional servo motors used in similar applications, especially in static or low-frequency operation.

scholarly journals Identification of Flap Motion Parameters for Vibration Reduction in Helicopter Rotors with Multiple Active Trailing Edge Flaps

2011 ◽  
Vol 18 (5) ◽  
pp. 727-745 ◽  
Author(s):  
Uğbreve;ur Dalli ◽  
Şcedilefaatdin Yüksel
Keyword(s):  
Rotor Blade ◽  
Helicopter Rotor ◽  
System Response ◽  
Trailing Edge ◽  
Blade Root ◽  
Helicopter Rotor Blade ◽  
Blade Vibrations ◽  
Trailing Edge Flaps ◽  
Trailing Edge Flap ◽  
Blade Loads

An active control method utilizing the multiple trailing edge flap configuration for rotorcraft vibration suppression and blade loads control is presented. A comprehensive model for rotor blade with active trailing edge flaps is used to calculate the vibration characteristics, natural frequencies and mode shapes of any complex composite helicopter rotor blade. A computer program is developed to calculate the system response, rotor blade root forces and moments under aerodynamic forcing conditions. Rotor blade system response is calculated using the proposed solution method and the developed program depending on any structural and aerodynamic properties of rotor blades, structural properties of trailing edge flaps and properties of trailing edge flap actuator inputs. Rotor blade loads are determined first on a nominal rotor blade without multiple active trailing edge flaps and then the effects of the active flap motions on the existing rotor blade loads are investigated. Multiple active trailing edge flaps are controlled by using open loop controllers to identify the effects of the actuator signal output properties such as frequency, amplitude and phase on the system response. Effects of using multiple trailing edge flaps on controlling rotor blade vibrations are investigated and some design criteria are determined for the design of trailing edge flap controller that will provide actuator signal outputs to minimize the rotor blade root loads. It is calculated that using the developed active trailing edge rotor blade model, helicopter rotor blade vibrations can be reduced up to 36% of the nominal rotor blade vibrations.

Wind Tunnel Testing of a Helicopter Rotor Trailing Edge Flap Actuated via Pneumatic Artificial Muscles

2010 ◽  
Author(s):  
Benjamin K. S. Woods ◽  
Norman M. Wereley ◽  
Curt S. Kothera
Keyword(s):  
Wind Tunnel ◽  
Aerodynamic Load ◽  
Artificial Muscles ◽  
Specific Work ◽  
Test Model ◽  
Trailing Edge ◽  
Actuation System ◽  
Wide Range ◽  
Pneumatic Artificial Muscles ◽  
Trailing Edge Flap

A novel active trailing edge flap actuation system is under development. This system differs significantly from previous trailing edge flap systems in that it is driven by a pneumatic actuator technology. Pneumatic Artificial Muscles (PAMs) were chosen because of several attractive properties, including high specific work and power output, an expendable operating fluid, and robustness. The actuation system is sized for a full scale active rotor system for a Bell 407 scale helicopter. This system is designed to produce large flap deflections (±20°) at the main rotor rotation frequency (1/rev) to create large amplitude thrust variation for primary control of the helicopter. Additionally, it is designed to produce smaller magnitude deflections at higher frequencies, up to 5/rev (N+1/rev), to provide vibration mitigation capability. The basic configuration has a pair of Pneumatic Artificial Muscles mounted antagonistically in the root of each blade. A bellcrank and linkage system transfers the force and motion of these actuators to a trailing edge flap on the outboard portion of the rotor. A reduced span wind tunnel test model of this system has been built and tested in the Glenn L. Martin Wind Tunnel at the University of Maryland at wind speeds up to M = 0.3. The test article consisted of a 5-ft long tip section of a Bell 407 rotor blade cantilevered from the base of the tunnel with a 34 in, 15% chord plain flap that was driven by the PAM actuation system. Testing over a wide range of aerodynamic conditions and actuation parameters established the considerable control authority and bandwidth of the system at the aerodynamic load levels available in the tunnel. Comparison of quasi-static experimental results shows good agreement with predictions made using a simple system model.

COMPARATIVE SURVEY OF VARIOUS STATIC AND DYNAMIC MODELS OF PNEUMATIC ARTIFICIAL MUSCLES

2017 ◽  
Vol 41 (5) ◽  
pp. 825-844 ◽  
Author(s):  
József Sárosi ◽  
Ján Piteľ ◽  
Mária Tóthová ◽  
Alexander Hošovský ◽  
István Bíró
Keyword(s):  
Dynamic Models ◽  
Geometric Model ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Force Model ◽  
Static Force ◽  
Pneumatic Actuators ◽  
Model Based ◽  
Pneumatic Artificial Muscles ◽  
Comparative Survey

A lesser known type of pneumatic actuators is pneumatic artificial muscle (PAM) although these pneumatic actuators play an important role in industrial, medical and other applications. In this study a PAM model based on the assumption Euler’s law is developed, some static force models (geometric model-based static force model, static force model using maximum force of PAM and static force model using a polynomial function) are compared to Sárosi’s force model and two dynamic models based on Sárosi’s static force model and Hill’s muscle model are presented.

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