scholarly journals Pneumatic Artificial Muscle Actuator Under Parametric and Hard Excitations

2021 ◽  
Author(s):  
BHABEN KALITA ◽  
SANTOSHA K. DWIVEDY
Keyword(s):  
Governing Equation ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Basin Of Attraction ◽  
Artificial Muscle ◽  
Equation Of Motion ◽  
Phase Portraits ◽  
System Response ◽  
Pneumatic Artificial Muscle ◽  
Stability And Bifurcations

Abstract In this work, a single degree of freedom system consisting of a mass and a Pneumatic Artificial Muscle (PAM) subjected to time varying pressure inside the muscle is considered. The system is subjected to hard excitation and the governing equation of motion is found to be that of a nonlinear forced and parametrically excited system under super- and sub-harmonic resonance conditions. The solution of the nonlinear governing equation of motion is obtained using the method of multiple scales (MMS). The time and frequency response, phase portraits and basin of attraction have been plotted to study the system response along with the stability and bifurcations. Further, the different muscle parameters have been evaluated by performing experiments which are further used for numerically evaluating the system response using the theoretically obtained closed form equations. The responses obtained from the experiments are found to be in good agreement with those obtained from the method of multiple scales. With the help of examples, the procedure to obtain the safe operating range of different system parameters have been illustrated.

scholarly journals Dynamic analysis of a parametrically excited golden Muga silk embedded pneumatic artificial muscle

2018 ◽  
Vol 211 ◽  
pp. 02008 ◽  
Author(s):  
Bhaben Kalita ◽  
S. K. Dwivedy
Keyword(s):  
Dynamic Analysis ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Quadratic Function ◽  
Artificial Muscle ◽  
Equation Of Motion ◽  
Time Response ◽  
Phase Portraits ◽  
Pneumatic Artificial Muscle ◽  
Pneumatic Muscle

In this work a novel pneumatic artificial muscle is fabricated using golden muga silk and silicon rubber. It is assumed that the muscle force is a quadratic function of pressure. Here a single degree of freedom system is considered where a mass is supported by a spring-damper-and pneumatically actuated muscle. While the spring-mass damper is a passive system, the addition of pneumatic muscle makes the system active. The dynamic analysis of this system is carried out by developing the equation of motion which contains multi-frequency excitations with both forced and parametric excitations. Using method of multiple scales the reduced equations are developed for simple and principal parametric resonance conditions. The time response obtained using method of multiple scales have been compared with those obtained by solving the original equation of motion numerically. Using both time response and phase portraits, variation of few systems parameters have been carried out. This work may find application in developing wearable device and robotic device for rehabilitation purpose.

Numerical Investigation of Nonlinear Dynamics of a Pneumatic Artificial Muscle With Hard Excitation

2020 ◽  
Vol 15 (4) ◽  
Author(s):  
Bhaben Kalita ◽  
Santosha K. Dwivedy
Keyword(s):  
Nonlinear Dynamics ◽  
Resonance Condition ◽  
Basin Of Attraction ◽  
Artificial Muscle ◽  
Phase Portraits ◽  
System Response ◽  
Pneumatic Artificial Muscle ◽  
Superharmonic Resonance ◽  
System Parameters ◽  
Hard Excitation

Abstract In this work, a numerical analysis has been carried out to study the nonlinear dynamics of a system with pneumatic artificial muscle (PAM). The system is modeled as a single degree-of-freedom system and the governing nonlinear equation of motion has been derived to study the various responses of the system. The system is subjected to hard excitation and hence the subharmonic and superharmonic resonance conditions have been studied. The second-order method of multiple scales (MMS) has been used to find the response, stability, and bifurcations of the system. The effect of various system parameters on the system response has been studied using time response, phase portraits, and basin of attraction. In these responses, while the saddle node bifurcation is found in both super and subharmonic resonance conditions, the Hopf bifurcation is found only in superharmonic resonance condition. By changing different system parameters, it has been shown that the response with three periods leads to chaotic response for superharmonic resonance condition. This study will find applications in the design of PAM actuators.

Parametric Stability of Axially Accelerating Viscoelastic Beams With the Recognition of Longitudinally Varying Tensions

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Li-Qun Chen ◽  
You-Qi Tang
Keyword(s):  
Governing Equation ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Finite Support ◽  
Governing Equations ◽  
Parametric Stability ◽  
Stability Boundaries ◽  
Axial Acceleration ◽  
The Stability ◽  
Longitudinally Varying Tension

In this paper, the parametric stability of axially accelerating viscoelastic beams is revisited. The effects of the longitudinally varying tension due to the axial acceleration are highlighted, while the tension was approximately assumed to be longitudinally uniform in previous studies. The dependence of the tension on the finite support rigidity is also considered. The generalized Hamilton principle and the Kelvin viscoelastic constitutive relation are applied to establish the governing equations and the associated boundary conditions for coupled planar motion of the beam. The governing equations are linearized into the governing equation in the transverse direction and the expression of the longitudinally varying tension. The method of multiple scales is employed to analyze the parametric stability of transverse motion. The stability boundaries are derived from the solvability conditions and the Routh-Hurwitz criterion for principal and sum resonances. In terms of stability boundaries, the governing equations with or without the longitudinal variance of tension are compared and the effects of the finite support rigidity are also examined. Some numerical examples are presented to demonstrate the effects of the stiffness, the viscosity, and the mean axial speed on the stability boundaries. The differential quadrature scheme is developed to numerically solve the governing equation, and the computational results confirm the outcomes of the method of multiple scales.

Stability and Vibration of a Rotating Circular Plate Subjected to Stationary In-Plane Edge Loads

1996 ◽  
Vol 63 (1) ◽  
pp. 121-127 ◽  
Author(s):  
I. Y. Shen ◽  
Y. Song
Keyword(s):  
Circular Plate ◽  
Rotational Speed ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Parametric Instability ◽  
Single Mode ◽  
Equation Of Motion ◽  
Asymmetric Membrane ◽  
Parametric Resonances ◽  
Hill’S Equations

This paper predicts transverse vibration and stability of a rotating circular plate subjected to stationary, in-plane, concentrated edge loads. First of all, the equation of motion is discretized in a plate-based coordinate system resulting in a set of coupled Hill’s equations. Through use of the method of multiple scales, stability of the rotating plate is predicted in closed form in terms of the rotational speed and the in-plane edge loads. The asymmetric membrane stresses resulting from the stationary in-plane edge loads will transversely excite the rotating plates to single-mode parametric resonances as well as combination resonances at supercritical speed. In addition, introduction of plate damping will suppress the parametric instability when normalized edge loads are small. Moreover, the radial in-plane edge load dominates the rotational speed at which the instability occurs, and the tangential in-plane edge load dominates the width of the instability zones.

Sensitivity of MEMS/NEMS Biosensors Near Twice Natural Frequency

2010 ◽  
Author(s):  
Dumitru I. Caruntu ◽  
Martin W. Knecht
Keyword(s):  
Natural Frequency ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Casimir Effect ◽  
Electrostatic Force ◽  
Equation Of Motion ◽  
Direct Approach ◽  
Mass Detection ◽  
Electrostatically Actuated ◽  
Phase Amplitude

Bio-MEMS/NEMS resonator sensors near twice natural frequency for mass detection are investigated. Electrostatic force along with fringe correction and Casimir effect are included in the model. They introduce parametric nonlinear terms in the system. The partial-differential equation of motion of the system is solved by using the method of multiple scales. A direct approach of the problem is then used. Two approximation problems resulting from the direct approach are solved. Phase-amplitude relationship is obtained. Numerical results for uniform electrostatically actuated micro resonator sensors are reported.

Nonlinear Dynamics of a Travelling Beam Subjected to Multi-Frequency Parametric Excitation

2014 ◽  
Vol 592-594 ◽  
pp. 2076-2080 ◽  
Author(s):  
Bamadev Sahoo ◽  
L.N. Panda ◽  
Goutam Pohit
Keyword(s):  
Parametric Excitation ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Equation Of Motion ◽  
Cubic Nonlinearity ◽  
First Order ◽  
Reduced Equations ◽  
Stable Periodic ◽  
Bifurcation And Stability ◽  
First Order Differential Equations

This paper deals with two frequency parametric excitation in presence of internal resonance. The cubic nonlinearity is inserted into the equation of motion by considering the mid-line stretching of the beam. The perturbation method of multiple scales is applied directly to the governing nonlinear fourth order integro-partial differential equation of motion. This leads to a set of first order differential equations known as the reduced equations or normalized reduced equations, which are utilized to determine the additional instability zones, appeared in the trivial state stability plot, the bifurcation and stability of fixed-points, periodic, quasi-periodic, mixed mode and chaotic responses. The transition of system behaviour from stable periodic to unstable chaotic occurs through intermittency route

On Nonlinear Motions of Two-Degree-of-Freedom Nonlinear Systems with Repeated Linearized Natural Frequencies

2019 ◽  
Vol 29 (10) ◽  
pp. 1950132
Author(s):  
Hua-Zhen An ◽  
Xiao-Dong Yang ◽  
Feng Liang ◽  
Wei Zhang ◽  
Tian-Zhi Yang ◽  
...  
Keyword(s):  
Natural Frequencies ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Phase Portraits ◽  
Chaotic Motions ◽  
Nonlinear Parameters ◽  
Energy Ratios ◽  
Two Degree Of Freedom ◽  
Nonlinear Motions ◽  
Phase Differences

In this paper, we investigate systematically the vibration of a typical 2DOF nonlinear system with repeated linearized natural frequencies. By application of Descartes’ rule of signs, we demonstrate that there are 14 types of roots describing different modal motions for varying nonlinear parameters. The method of multiple scales is used to obtain the amplitude-phase portraits by introducing the energy ratios and phase differences. The typical nonlinear in-unison and elliptic out-of-unison modal motions are located for the 14 types of roots and then validated by numerical simulations. It is found that the normal in-unison modal motions, elliptic out-of-unison modal motions are analogous to the polarization of classical optic theory. Further, some kinds of periodic and chaotic motions under out-of-unison and in-unison excitations are investigated numerically. The result of this study offers a detailed discussion of nonlinear modal motions and responses of 2DOF systems with cubic nonlinear terms.

scholarly journals A Non-Linear Dynamic Model of Ionic Polymer-Metal Composite (IPMC) Cantilever Actuator

2019 ◽  
Vol 16 (1) ◽  
pp. 6332-6347
Author(s):  
D. K. Biswal ◽  
D. Bandopadhya ◽  
S. K. Dwivedy
Keyword(s):  
Governing Equation ◽  
Multiple Scales ◽  
Production Method ◽  
Equation Of Motion ◽  
Metal Composite ◽  
Ionic Polymer ◽  
Solvent Loss ◽  
Non Linear Equation ◽  
Non Linear ◽  
Polymer Metal

This work presents development of an effective non-linear mathematical model for dynamic analysis of Ionic polymer-metal composites (IPMCs) cantilever actuators undergoing large bending deformations under AC excitation voltages. As the IPMC actuator experiences dehydration (solvent loss) in open environment, a model has been proposed to calculate the solvent loss due to applied electric potential following Cobb-Douglas production method. D’Alembert’s principle has been used for the derivation of the governing equation of motion of the system. Generalized Galerkin’s method has been followed to reduce the governing equation to the second-order temporal differential equation of motion. Method of multiple scales has been used to solve the non-linear equation of motion of the system and dehydration effect on the vibration response has been demonstrated numerically.

Boundary Value Problem Method to Investigate Superharmonic Resonance of MEMS Resonators

2017 ◽  
Author(s):  
Julio Beatriz ◽  
Martin Botello ◽  
Christian Reyes ◽  
Dumitru I. Caruntu
Keyword(s):  
Differential Equation ◽  
Multiple Scales ◽  
Method Of Multiple Scales ◽  
Equation Of Motion ◽  
The Other ◽  
Superharmonic Resonance ◽  
Electrostatically Actuated ◽  
Amplitude Frequency Response ◽  
Problem Method ◽  
Mems Resonators

This paper deals with two different methods to analyze the amplitude frequency response of an electrostatically actuated micro resonator. The methods used in this paper are the method of multiple scales, which is an analytical method with one mode of vibration. The other method is based on system of odes which is derived using the partial differential equation of motion, as well as the boundary conditions. This system is then solved using a built in matlab function known as BVP4C. Results are then shown comparing the two methods, under a variety of parameters, including the influence of damping, voltage, and fringe.

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