ANALYSIS OF THE STRESS-STRAIN STATE OF AN ASYNCHRONOUS MOTOR WITH A SHORT-CIRCUITED ROTOR UNDER AXIAL LOADS

A comparative description of the most popular and professional 3D modeling packages using the finite element method in solving problems is given. The choice of using the SolidWorks Simulation package at this stage of research is justified. Its main advantages are given. A 3D model of a real functioning asynchronous motor has been designed and modified to perform linear displacement operations. A static analysis of the strength of an asynchronous motor with linear displacement of the actuator using the plug-in module SolidWorks Simulation was performed. A direct analysis of the obtained result of the stress-strain state of the engine is carried out. Conclusions are drawn about its suitability to work with axial loads. The main directions of subsequent research of asynchronous motors with a short-circuited rotor under axial loads are determined.

Effect of Laser Radiation on the Dynamics of Active Brownian Macroparticles in an Extended Plasma-Dust Monolayer

Using the modified method of Brownian dynamics, the dynamics of macroparticles with a uniform metal coating in a plasma-dust monolayer under the action of laser radiation was simulated. The time dependences of the root-mean-square and average linear displacements of particles were calculated for different initial effective parameters of nonideality and different intensities of laser radiation. A relationship was established that connects the effective parameter of nonideality of the dusty plasma system of active particles with the maximum value of the mean linear displacement of particles.

Light-Driven Linear Inchworm Motor Based on Liquid Crystal Elastomer Actuators Fabricated with Rubbing Overwriting

Linear displacement is used for positioning and scanning, e.g., in robotics at different scales or in—scientific instrumentation. Most linear motors are either powered by rotary drives or are driven directly by pressure, electromagnetic forces or a shape change in a medium, such as piezoelectrics or shape-memory materials. Here, we present a centimeter-scale light-powered linear inchworm motor, driven by two liquid crystal elastomer (LCE) accordion-like actuators. The rubbing overwriting technique was used to fabricate the LCE actuators, made of elastomer film with patterned alignment. In the linear motor, a scanned green laser beam induces a sequence of travelling deformations in a pair of actuators that move a gripper, which couples to a shaft via friction moving it with an average speed in the order of millimeters per second. The prototype linear motor demonstrates how LCE light-driven actuators with a limited stroke can be used to drive more complex mechanisms, where large displacements can be achieved, defined only by the technical constrains (the shaft length in our case), and not by the limited strain of the material. Inchworm motors driven by LCE actuators may be scaled down to sub-millimeter size and can be used in applications where remote control and power supply with light, either delivered in free space beams or via fibers, is an advantage.

Corrugated Diaphragm Actuator for Soft Robotic Applications

Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents the design methodology of such a modular actuator, created with a novel corrugated diaphragm that can apply linear displacement, angular displacement, and force. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. The modular corrugated diaphragm actuator concept was validated through numerical simulation, fabrication, and testing. Linear displacement, angular displacement, and force characteristics were shown for a single module and in multi-module assemblies. Actuator assemblies that are configured in a serial and parallel manner were investigated to demonstrate the applicability and versatility of the concept of the modular corrugated diaphragm actuator for creating single and multi-DOF joints.

High precision machining of a displacement sensor for helicoidal motions

This research study presents the design and the high precision manufacture procedure of a fiber-optic displacement sensor. It is composed of two fiber-optic probes associated with a structure of a cones’ grating. The sensor is characterized by its ability to measure the linear displacement for an axis performing a helicoidal motion. This motion has been demonstrated on a high precision lathe; where the spindle provided the rotational motion, associated to a translational motion on the linear stage. This allowed to obtain the two simultaneous motions. The displacement of the translational stage is measured by the sensor in real time.Firstly, a highly precise geometric model of the reflector part for the sensor was developed. This model provided a specific geometry for the cones-assembled grating, which has been precisely manufactured. The geometric parameters and the surface characteristics of each step in the fabricated grating were both identified in situ on the lathe. The agreement between simulation and experimental results is excellent. The performances of the fiber-optic displacement sensor were identified in-situ on the lathe. The analysis of the voltage output signals from the two fiber-optic probes is used to measure the grating displacement. The unbalanced rotation due to non-centered axes was also characterized. The sensor provided a micrometric resolution, on a measurement range of more than one centimeter.

Radial Basis Functions Vector Fields Interpolation for Complex Fluid Structure Interaction Problems

Fluid structure interaction (FSI) is a complex phenomenon that in several applications cannot be neglected. Given its complexity and multi-disciplinarity the solution of FSI problems is difficult and time consuming, requiring not only the solution of the structural and fluid domains, but also the use of expensive numerical methods to couple the two physics and to properly update the numerical grid. Advanced mesh morphing can be used to embed into the fluid grid the vector fields resulting from structural calculations. The main advantage is that such embedding and the related computational costs occur only at initialization of the computation. A proper combination of embedded vector fields can be used to tackle steady and transient FSI problems by structural modes superposition, for the case of linear structures, or to impose a full non-linear displacement time history. Radial basis functions interpolation, a powerful and precise meshless tool, is used in this work to combine the vector fields and propagate their effect to the full fluid domain of interest. A review of industrial high fidelity FSI problems tackled by means of the proposed method and RBF is given for steady, transient, and non-linear transient FSI problems.

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents such an attempt by designing a modular corrugated diaphragm actuator that can apply linear displacement, force, and bending motion. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. Numerical simulation, fabrication, and testing were carried out to evaluate the displacement, force, and bending characteristics of the corrugated diaphragm actuator as a single unit and in multi-unit arrays to understand their applicability for different scenarios. Actuator arrays that are configured in a serial and parallel manner were investigated. The results will be presented in terms of using this modular actuator concept to create single and multi-DOF joints, which will demonstrate the versatility of this modular actuator approach.

Controlling a Mouse Pointer with a Single-Channel EEG Sensor

(1) Goals: The purpose of this study was to analyze the feasibility of using the information obtained from a one-channel electro-encephalography (EEG) signal to control a mouse pointer. We used a low-cost headset, with one dry sensor placed at the FP1 position, to steer a mouse pointer and make selections through a combination of the user’s attention level with the detection of voluntary blinks. There are two types of cursor movements: spinning and linear displacement. A sequence of blinks allows for switching between these movement types, while the attention level modulates the cursor’s speed. The influence of the attention level on performance was studied. Additionally, Fitts’ model and the evolution of the emotional states of participants, among other trajectory indicators, were analyzed. (2) Methods: Twenty participants distributed into two groups (Attention and No-Attention) performed three runs, on different days, in which 40 targets had to be reached and selected. Target positions and distances from the cursor’s initial position were chosen, providing eight different indices of difficulty (IDs). A self-assessment manikin (SAM) test and a final survey provided information about the system’s usability and the emotions of participants during the experiment. (3) Results: The performance was similar to some brain–computer interface (BCI) solutions found in the literature, with an averaged information transfer rate (ITR) of 7 bits/min. Concerning the cursor navigation, some trajectory indicators showed our proposed approach to be as good as common pointing devices, such as joysticks, trackballs, and so on. Only one of the 20 participants reported difficulty in managing the cursor and, according to the tests, most of them assessed the experience positively. Movement times and hit rates were significantly better for participants belonging to the attention group. (4) Conclusions: The proposed approach is a feasible low-cost solution to manage a mouse pointer.

Pneumatic actuator positioning with pilot controlled check valves

Tests of accuracy and repeatability of the pneumatic cylinder positioning in intermediate positions using a check valve are presented. The tests were performed under different loads and for different piston speeds and operating pressure in a pneumatic system with throttle check valves and an optical linear displacement sensor measuring the position of the actuator rod. Assessment of the effect of the cylinder performance parameters on the accuracy and repeatability of piston rod positioning was done and limitations and possible applications of the pneumatic cylinder positioning in intermediate positions with a check valve were identified.