Controllable, High Force Amplification Using Elastic Cable Capstans

2012 ◽  
Author(s):  
Gray C. Thomas ◽  
Clayton C. Gimenez ◽  
Erica D. Chin ◽  
Andrew P. Carmedelle ◽  
Aaron M. Hoover
Keyword(s):  
Dynamic Performance ◽  
Experimental Results ◽  
Rotating Drum ◽  
Experimental Characterization ◽  
Experimental Apparatus ◽  
Linear Force ◽  
Low Torque ◽  
Robotic Applications

This paper presents the design and experimental characterization of a continuously variable linear force amplifier based on the theory of capstans. In contrast to traditional capstan amplifiers, the design presented here uses an elastic cable, enabling a control actuator to not only continuously clutch output to a rotating drum but also passively declutch by releasing tension. Our experimental results demonstrate successful declutching at all force amplification ratios up to the limit of our experimental apparatus, 21 — significantly higher than previously published values. A system of distributed capstan amplifiers driven by a central torque source with cable engagement switched by lightweight, low torque actuators has potential to reduce the mass of distal actuators and enable more dynamic performance in robotic applications.

Dynamic Response Modeling of Piezoelectric Ultrasonic Motors

2005 ◽  
Author(s):  
James B. Dabney ◽  
Thomas L. Harman ◽  
Charanya Aswatharanayan ◽  
Mary Randolph-Gips ◽  
Fathi H. Ghorbel ◽  
...  
Keyword(s):  
Dynamic Response ◽  
Algebraic Curve ◽  
Dynamic Models ◽  
Experimental Characterization ◽  
Computationally Efficient ◽  
Ultrasonic Motors ◽  
Response Modeling ◽  
Robotic Applications ◽  
Descriptive Models

Piezoelectric ultrasonic motors (PUMs) fill a unique niche in mechatronic actuators. The motors are lightweight, simple, and reliable, containing a single moving part that provides the function of motor, transmission, and brake. They are ideal for a variety of robotic applications as well as commercial and medical applications. In order to exploit PUMs fully, computationally efficient models of dynamic response, capturing all important dynamics, are needed. This paper describes the experimental characterization of the dynamic response of a typical commercial PUM (Shinsei USR-30) using an inertial load and evaluation of three classes of dynamic models: second-order predictive (physics-based) models, algebraic (curve fitting) descriptive models, and neural network approximation.

Experimental Characterization of the Reliability of Multi-Terminal Dual-Damascene Copper Interconnect Trees

2003 ◽  
Vol 766 ◽  
Author(s):  
C. L. Gan ◽  
C.V. Thompson ◽  
K. L. Pey ◽  
W. K. Choi ◽  
C. W. Chang ◽  
...  
Keyword(s):  
Current Density ◽  
Void Nucleation ◽  
Experimental Results ◽  
Experimental Characterization ◽  
Dual Damascene ◽  
Current Densities ◽  
The Common ◽  
Number Of Segments ◽  
Atomic Source

AbstractThe reliability of Cu dual-damascene interconnect trees with 3-terminal (dotted-I), 4-terminal (‘T’) and 5-terminal (‘+’) configurations has been investigated. The lifetime of multiterminal interconnect trees with the same current density through the common middle via was determined to be independent of the number of segments connected at the common junction. Furthermore, our experimental results on dotted-I test structures showed an increase in the reliability of the interconnect tree when the distribution of a same current was not equal in the two connected segments, especially for the cases where one of the segments was acting as a passive reservoir or active source of Cu atoms for the adjoining segment. Due to the low barrier for void nucleation at the Cu/Si3N4 interface, the presence of any small atomic source in neighboring segments will enhance the reliability of a connected segment in which Cu atoms are being drained away. As a consequence, failure can occur in a tree segment which is stressed at significantly lower current densities than more highly stressed adjoining segments.

Experimental Characterization of Bonded Microcoolers for Hot Spot Removal

2005 ◽  
Author(s):  
Yan Zhang ◽  
Gehong Zeng ◽  
Christine Hoffman ◽  
Ali Shakouri ◽  
Peng Wang ◽  
...  
Keyword(s):  
Integrated Circuit ◽  
Hot Spots ◽  
Hot Spot ◽  
Experimental Results ◽  
Cooling Power ◽  
Experimental Characterization ◽  
Region Versus ◽  
Test Range ◽  
Microelectronic Devices

In this paper we describe the experimental results of Si/SiGe superlattice microcoolers, which are used to cool the target hot spot on a 65μm-thick silicon substrate. The device areas under test range from 50×50 to 150×150 μm2. We measured the cooling temperature at the hot spot region versus the current supplied to the microcooler, as well as the thermal resistance, and the cooling power density (CPD, also defined as heat flux — the flow of heat per unit area in W/cm2) of these devices. The experimental results show the maximum cooling at the hot spot region approaches 1°C for device area 150×150μm2 at 80°C, and CPD up to ∼110W/cm2 for device area 50×50×2 μm2 (two 50×50μm2 device array, as illustrated in Figure 3) at 80°C. The two-chip bonded configuration will allow the integration of spot coolers and integrated circuit chips with minimum impact on the processing of microelectronic devices. Key parameters limiting the cooling performance at the hot spots are also discussed.

Experimental Characterization of Fuel-Air Mixing in a Multi-Hole Tube

2011 ◽  
Author(s):  
Chi Zhang ◽  
Quanhong Xu ◽  
Yuzhen Lin ◽  
Jing Zhu ◽  
Yixiang Yuan ◽  
...  
Keyword(s):  
Research Work ◽  
Experimental Results ◽  
Experimental Characterization ◽  
Gas Analyzer ◽  
Micro Gas Turbine ◽  
Fuel Atomization ◽  
Low Emission ◽  
Air Mixing ◽  
Tube Exit

This paper reports our recent research work on the mixing of fuel and air in a multi-hole tube. The multi-hole tube is an important component used for Lean Premixed Prevaporized (LPP), low emission combustion in a micro gas turbine. A baseline configuration of the multi-hole tube is investigated herein. Mixing characterization experiments are conducted by mapping the distribution of fuel-air ratios at the tube exit with a gas analyzer. Experimental results indicate that the matching of fuel atomization and flow field is the primary factor affecting fuel-air mixture uniformity. Based on the experimental results of the baseline configuration, a systematic and parametric configuration optimization can be then attempted. Experimental results with a modified configuration demonstrate improved mixing uniformity at the tube exit as compared to the baseline configuration, thereby signifying the importance of developing multi-hole tube design rules.

Experimental Characterization of the Dynamics of VO2-Based MEMS Mirrors

2016 ◽  
Author(s):  
David Torres ◽  
Tongyu Wang ◽  
Jun Zhang ◽  
Sarah Dooley ◽  
Xiaobo Tan ◽  
...  
Keyword(s):  
Resonant Frequency ◽  
Frequency Response ◽  
Dynamic Performance ◽  
Band Width ◽  
Experimental Characterization ◽  
Thermal Dynamics ◽  
Step Input ◽  
Sinusoidal Input

In this work, the time and frequency response of VO2-based MEMS mirrors are characterized across the transition for individual and simultaneous actuation. First, a step input train of increasing amplitude are applied to the device up to the point of transition is reached. Second, the frequency response is measured by applying a small sinusoidal input, where the displacement remained inside the hysteresis of the VO2. The frequency of the input varied from 0.1 to 2000 Hz. The thermal dynamics of the device is found to be the factor limiting the device’s band-width to less than 10 Hz. The average resonant frequency of the present VO2-based MEMS mirror was found to be 412.5 Hz for individual actuation. These results allow for the extraction of the necessary parameters to create a model that can be used to design devices with specific dynamic performance.

An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 119-133 ◽  
Author(s):  
Erika Ottaviano ◽  
Marco Ceccarelli ◽  
Francesco Palmucci
Keyword(s):  
Parallel Manipulator ◽  
Tracking System ◽  
Experimental Results ◽  
Measuring System ◽  
Human Walking ◽  
Experimental Characterization ◽  
Experimental Identification ◽  
Human Limb

SUMMARYIn this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.

Characterization of the torsional vibration behavior of circular and rectangular cross-sectional arc springs: Theory and experiments

2021 ◽  
Vol 63 (2) ◽  
pp. 113-118
Author(s):  
Samet Fidanciogullari ◽  
Ahmet Yildiz
Keyword(s):  
Torsional Vibration ◽  
Experimental Tests ◽  
Experimental Results ◽  
Experimental Characterization ◽  
Cross Sectional ◽  
Vibration Behavior ◽  
The Masses ◽  
Theory And Experiments ◽  
Good Agreement

Abstract This paper is about the theoretical and experimental characterizations of the torsional vibration behavior of circular and rectangular cross-sectional arc springs. Firstly, the dynamic behaviors of arc springs with different cross-sectional wire profiles designed for a dual mass flywheel are modeled by mathematical formulations. After that, experimental tests are performed to verify these models and it is observed that the stiffness characterizations are in good agreement with experimental results. Lastly, the masses of two different arc springs are compared by regarding the same vibration stiffness criteria and it is demonstrated that the rectangular wire provides an arc spring with a 9.44 vol.-% lighter structure. Thus, the outcomes of this paper can be good references for the manufacturer about the numerical and experimental characterization of dual mass flywheel springs, especially for rectangular wire arc springs.

Design and Experimental Characterization of a Cable-Driven Elbow Assisting Device

2021 ◽  
Vol 15 (1) ◽  
Author(s):  
Med Amine Laribi ◽  
Marco Ceccarelli
Keyword(s):  
Experimental Testing ◽  
Kinematic Model ◽  
Experimental Results ◽  
Experimental Setup ◽  
The Novel ◽  
Experimental Characterization ◽  
Device Design ◽  
Performance Characterization ◽  
Assisting Device

Abstract This paper presents the design and an experimental characterization of CADEL, a cable-driven elbow assisting device. The device design is presented to be portable and user-oriented solution and its kinematic model is formulated for functionality analysis. A first prototype and its experimental setup are discussed with the peculiarities of the novel solutions. Two operation modes are investigated with and without load in experimental testing. The performance characterization and feasibility are discussed referring to both the numerical and experimental results.

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