• Structural Engineering and Mechanics
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• v.91 no.2
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• pp.211-225
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• 2024

Soft bending actuators have gained significant interest in robotic applications due to their compliance and lightweight nature. Their compliance allows for safer and more natural interactions with humans or other objects, reducing the risk of injury or damage. However, the nonlinear behaviour of soft actuators presents challenges in accurately predicting their bending motion and force exertion. In this research, a new comprehensive study has been conducted by employing a developed 3D finite element model (FEM) to investigate the effect of geometrical and material parameters on the bending behaviour of a soft pneumatic actuator reinforced with Kevlar fibres. A series of experiments are designed to validate the FE model, and the FE model investigates the improvement of actuator performance. The material used for fabricating the actuator is RTV-2 silicone rubber. In this study, the Cauchy stress was expanded for hyperelastic models and the best model to express the stress-strain behaviour based on ASTM D412 Type C tensile test for this material has been obtained. The results show that the greatest bending angle was achieved for the semi-elliptical actuator made of RTV2 material with a pitch of 1.5 mm and second layer thickness of 1 mm. In comparison, the maximum response force was obtained for the semi-elliptical actuator made of RTV2 material with a pitch of 6 mm and a second layer thickness of 2 mm. Additionally, this research opens up new possibilities for development of safer and more efficient robotic systems that can interact seamlessly with humans and their environment.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• Smart Structures and Systems
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• v.24 no.3
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• pp.361-377
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• 2019

The stiffness of shape memory alloy (SMA) spring while in actuation is represented by an empirical model that is derived from the logistic differential equation. This model correlates the stiffness to the alloy temperature and the functionality of SMA spring as active variable stiffness actuator (VSA) is analyzed based on factors that are the input conditions (activation current, duty cycle and excitation frequency) and operating conditions (pre-stress and mechanical connection). The model parameters are estimated by adopting the nonlinear least square method, henceforth, the model is validated experimentally. The average correlation factor of 0.95 between the model response and experimental results validates the proposed model. In furtherance, the justification is augmented from the comparison with existing stiffness models (logistic curve model and polynomial model). The important distinction from several observations regarding the comparison of the model prediction with the experimental states that it is more superior, flexible and adaptable than the existing. The nature of stiffness variation in the SMA spring is assessed also from the Dynamic Mechanical Thermal Analysis (DMTA), which as well proves the proposal. This model advances the ability to use SMA integrated mechanism for enhanced variable stiffness actuation. The investigation proves that the stiffness of SMA spring may be altered under controlled conditions.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.768-770
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• 2001

The topology optimizations of electromagnetic systems with the nonlinear and the eddy current effects are studied using the finite element method. The topology design sensitivity formulations of nonlinear magnetostatics and eddy current systems are derived using the adjoint variable method. A computer program is developed using object orient programming and applied to the topology optimization of a C-core actuator. A numerical study shows the effects of saturation and eddy current by comparing results of topology optimizations.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.247-253
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• 2000

In this paper, we deal with the full range control problem of nonlinear boiler systems subject to complex actuator constraints. Firstly, $H\infty$ loop shaping design procedure［10］ is used for the controller design. Secondly, modified high-gain feedback［11］ for the loop shaping controller is adopted for the anti-windup function and the bumpless transfer technique between controllers is proposed for the full range control of nonlinear systems. Finally, the performance of the proposed controller is demonstrated through the simulation studies.

• Structural Engineering and Mechanics
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• v.49 no.6
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• pp.687-703
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• 2014

This paper develops a new nonlinear model for active control of three-dimensional (3D) irregular building structures. Both geometrical and material nonlinearities with a neuro-controller training algorithm are applied to a multi-degree-of-freedom 3D system. Two dynamic assembling motions are considered simultaneously in the control model such as coupling between torsional and lateral responses of the structure and interaction between the structural system and the actuators. The proposed control system and training algorithm of the structural system are evaluated by simulating the responses of the structure under the El-Centro 1940 earthquake excitation. In the numerical example, the 3D three-story structure with linear and nonlinear stiffness is controlled by a trained neural network. The actuator dynamics, control time delay and incident angle of earthquake are also considered in the simulation. Results show that the proposed control algorithm for 3D buildings is effective in structural control.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.

• Composites Research
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• v.20 no.1
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• pp.8-14
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• 2007

Nonlinear aeroelastic analyses of composite wing with flap are performed considering free-play and dynamic stiffness of actuator. Doublet-Hybrid method is used for the calculation of subsonic unsteady aerodynamic forces. Free-play is modeled as a bilinear spring and is linearized by using the describing function method. Dynamic stiffness is obtained from governing equation of gear system and the aeroelastic analyses were performed according to ply-angle of laminate and material. The linear and nonlinear flutter analysis results show that the flutter characteristics are significantly dependent on the free-play and dynamic stiffness. from the nonlinear flutter analysis, various types of limit cycle oscillations are observed in a range of air speeds below or above the linear divergent flutter boundary.

• Journal of Biomedical Engineering Research
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• v.28 no.3
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• pp.348-354
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• 2007

Polymer actuators, which are also called as smart materials, change their shapes when electrical, chemical, thermal, or magnetic energy is applied to them and are useful in wide variety of applications such as microelectromechanical systems (MEMS), machine components, and artificial muscles. For this study, Polyaniline/carbon-nanotube polymer actuator that is one of electroactive polymer actuators was prepared. Since the nonlinear phenomena of hysteresis and a step response are essential considerations for practical use of polymer actuators, we have investigated the movement of the Polyaniline/carbon-nanotube polymer actuator and have developed an integrated model that can be used for simulating and predicting the hysteresis and a step response during actuation. The Preisach hysteresis model, one of the most popular phenomenological models of hysteresis, were used for describing the hysteretic behavior of Polyaniline/carbon-nanotube polymer actuator while the ARX method, one of system identification techniques, were used for modeling a step response. In this paper, we first expain details in preparation of the Polyaniline/carbon-nanotube polymer then present the mathematical description of our model, the extraction of the parameters, simulation results from the model, and finally a comparison with measured data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.5
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• pp.551-557
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• 2014

This paper presents a robust lateral controller for autonomous guidance of a farm tractor in field operations. Although mechanical steering actuators have recently been used for passenger vehicles, the steering actuator of the farm tractor is based on a hydraulic system, resulting in limited bandwidth and a larger time delay. Based on a kinematic tractor model with steering actuator dynamics, a nonlinear control technique called dynamic surface control is applied to design a robust lateral controller that compensates for uncertainty owing to steering actuator and road geometry. Finally, tracking performance and robustness of the proposed controller are validated via commercial tractor simulations, with respect to the time delay of the steering actuator and road geometry (e.g., up and down hills), on a given field with a constant friction coefficient.