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

Constant Torque ◽

Rotary Actuator ◽

Continuous Rotation ◽

Potential Applications ◽

New Type ◽

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.

Emboding Intelligence in Structures and Integrated Systems - Advances in Science and Technology ◽

Precision Motion Control of a Smart Structure Using an Enhanced Stick-Slip Model

10.4028/3-908158-13-3.98 ◽

2008 ◽

pp. 98-103

Author(s):

Min Gyu Jang ◽

Chul Hee Lee ◽

Seung Bok Choi

Keyword(s):

Motion Control ◽

Smart Structure ◽

Slip Model ◽

Stick Slip ◽

The modular design of trajectory compensation based on ATCF for precision motion control

Mechanical Systems and Signal Processing ◽

10.1016/j.ymssp.2019.106393 ◽

2020 ◽

Vol 135 ◽

pp. 106393

Author(s):

Ze Wang ◽

Chuxiong Hu ◽

Yu Zhu ◽

Ming Zhang ◽

Chi Zhang

Keyword(s):

Motion Control ◽

Modular Design ◽

Controller Design for Flexible Systems With Friction: Pulse Amplitude Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.1988341 ◽

2004 ◽

Vol 127 (3) ◽

pp. 336-344 ◽

Cited By ~ 4

Author(s):

Jae-Jun Kim ◽

Tarunraj Singh

Keyword(s):

Control Systems ◽

Pulse Width ◽

Controller Design ◽

Reference Value ◽

Pulse Amplitude ◽

Residual Vibration ◽

Stick Slip ◽

Amplitude Control ◽

Accounting for friction is important when designing controllers for precision motion control systems. However, the presence of the friction and the flexibility in the system yields undesirable behaviors such as residual vibration and stick-slip oscillation near the reference value. In the proposed development, a pulse amplitude modulated controller with user-specified pulse width, is used to initiate the motion so as to permit the system to coast to the desired final position after the final pulse, with zero residual vibrations. The proposed technique is illustrated on the floating oscillator benchmark problem, where friction acts on the first mass. Numerical simulation illustrates the effectiveness of the proposed technique.

A New Type of Cuprous-Cysteamine Sensitizers: Synthesis, Optical Properties and Potential Applications

Materials Today Physics ◽

10.1016/j.mtphys.2021.100435 ◽

2021 ◽

pp. 100435

Author(s):

Yan Wang ◽

Noura Dawas Alkhaldi ◽

Nil Kanatha Pandey ◽

Lalit Chudal ◽

Lingyun Wang ◽

...

Keyword(s):

Optical Properties ◽

Potential Applications ◽

New Type

Micro- and Nano-Fabrication of Polymer Based Microfluidic Platforms for BioMEMS Applications

MRS Proceedings ◽

10.1557/proc-729-u1.7 ◽

2002 ◽

Vol 729 ◽

Cited By ~ 6

Author(s):

Siyi Lai ◽

L. James Lee ◽

Liyong Yu ◽

Kurt W. Koelling ◽

Marc J. Madou

Keyword(s):

Low Cost ◽

Gas Injection ◽

Surface Characteristics ◽

Tissue Growth ◽

Thin Layers ◽

Microfluidic Platforms ◽

Nano Fabrication ◽

Local Modification ◽

AbstractIn this paper, we review the approaches developed in our laboratory for polymer-based micro/nanofabrication. For fabrication of microscale features, UV-LIGA (UV-lithography, electroplating, and molding) technology was applied for low-cost mass production. For fabrication of sub-micron or nanoscale features, a novel nano-manufacturing protocol is being developed. The protocol applies a novel nano-lithography imprinting process on an ultra-precision motion-control station. It is capable of economically producing well-defined pores or channels at the nanometer scale on thin polymer layers. The formed thin layers can be used as nano-filters for chemical or bio-separation. They can also be integrated into miniaturized devices for cell immunoprotection or tissue growth. For bonding of polymer-based microfluidic platforms, a novel resin-gas injection-assisted technique has been developed that achieves both bonding and surface modification. This new approach can easily seal microfluidic devices with micron and sub-micron sized channels without blocking the flow path. It can also be used to modify the channel shape, size, and surface characteristics (e.g., hydrophilicity, degree of protein adsorption). By applying the masking technique, local modification of the channel surface can be achieved through cascade resin-gas injection.

Precision motion control of a linear piezoelectric ultrasonic motor stage

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ◽

10.1109/aim.2013.6584086 ◽

2013 ◽

Cited By ~ 1

Author(s):

Wenyu Liang ◽

Sunan Huang ◽

Silu Chen ◽

Kok Kiong Tan

Keyword(s):

Motion Control ◽

Ultrasonic Motor ◽

Piezoelectric Ultrasonic Motor ◽

Mechanisms and Mitigation of 3D Coupled Vibrations in Drilling with PDC Bits

10.2118/205904-ms ◽

2021 ◽

Author(s):

Shilin Chen ◽

Chris Propes ◽

Curtis Lanning ◽

Brad Dunbar

Keyword(s):

Torsional Oscillation ◽

Excitation Frequency ◽

Low Frequency ◽

Coupled Vibration ◽

Stick Slip ◽

Rock Interaction ◽

Bottom Hole ◽

New Type ◽

Design Characteristics ◽

Axial Resonance

Abstract In this paper we present a new type of vibration related to PDC bits in drilling and its mitigation: a vibration coupled in axial, lateral and torsional directions at a high common frequency (3D coupled vibration). The coupled frequency is as high as 400Hz. 3D coupled vibration is a new dysfunction in drilling operation. This type of vibration occurred more often than stick-slip vibration. Evidences reveal that the coupled frequency is an excitation frequency coming from the bottom hole pattern formed in bit/rock interaction. This excitation frequency and its higher order harmonics may excite axial resonance and/or torsional resonance of a BHA. The nature of 3D coupled vibration is more harmful than low frequency stick-slip vibration and high frequency torsional oscillation (HFTO). The correlation between the occurrence of 3D coupled vibration and bit design characteristics is studied. Being different from prior publications, we found the excitation frequency is dependent on bit design and the occurrence of 3D coupled vibration is correlated with bit design characteristics. New design guidlines have been proposed to reduce or to mitigate 3D coupled vibration.

The Study of Control System for Reconfigurable Machine Tool Model

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.188.499 ◽

2011 ◽

Vol 188 ◽

pp. 499-502

Author(s):

L. Zhou ◽

Wen Jie Nie ◽

Z.R. Liao ◽

X.R. Liang ◽

G.Q. Pan

Keyword(s):

Control System ◽

Machine Tool ◽

Motion Control ◽

Machine Tools ◽

Single Chip ◽

Single Chip Microcomputer ◽

Single Function ◽

Precision Motion ◽

Reconfigurable Machine Tool

With the higher requirements of product processing, single-function machine can not meet the production needs. By analyzing the principles of reconfigurable machine tools, based on 51 single-chip microcomputer, this article researches the control system of reconfigurable machine tool, implements precision motion control for motors. The research can also reduce costs, so the practicality and economy all have a certain advantage, which will help promote the use in practice.