A Multi-Cellular PZT Actuator/Generator with Tunable Stiffness and Resonant Frequencies
具有可调刚度和谐振频率的多单元 PZT 致动器/发生器
基本信息
- 批准号:1000727
- 负责人:
- 金额:$ 31.35万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2010
- 资助国家:美国
- 起止时间:2010-09-15 至 2013-08-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
A skeletal muscle consists of a number of independent muscle fibers, each producing a mechanical output efficiently in a compact body. Collective behaviors of a bundle of muscle fibers exhibit unique features and functionality that today's actuators are unable to produce. Unlike conventional electric motors, for example, muscles are mechanically flexible and adaptable to load conditions. Muscles can vary effective stiffness and output impedance in a wide range. Furthermore, a variety of muscles having a wide range of size, power, and degrees of freedom can be built from the same module, i.e., the muscle fiber. Inspired by this skeletal muscle architecture, this project investigates cellular artificial muscles using actuator materials, in particular, PZT (Lead Zirconate Titanate). Like a muscle fiber, a PZT cellular unit is an independent unit that is designed for optimal efficiency and functionality. Using an effective flexure, each PZT cell can produce large displacement and force comparable to a skeletal muscle fiber. Such an optimal unit is inevitably small to drive a large load. Arranging the PZT cells in series, parallel, and antagonistic configurations, a bundle of PZT units collectively exhibit unique features and functionality that a single bulk PZT actuator cannot produce. These include: A). Variable stiffness: Switching individual cellular units ON or OFF creates a significant change to the aggregate stiffness of the multi-cellular system. B). Tailored force-displacement characteristics: By exploiting the ON-OFF nonlinearity of individual units and superimposing the multitude of the nonlinear functions, we can tailor the aggregate force-displacement curve to task goals and environment conditions. This allows us to physically implement the "work loop" characteristics of animal motion at the actuator level. C). Variable resonant frequencies: The multi-cellular PZT actuator forms a network of mass-spring systems due to the combined effect of a flexure and PZT stack at each unit. This multi d.o.f. system has resonant frequencies at which the output displacement becomes much larger than its static stroke, making cyclic motion, such as flapping and running, very efficient. Furthermore, ON-OFF switching of individual units causes a change to the mass distribution and thereby makes the resonant frequency highly tunable. D). Energy harvesting: The new actuator is completely backdriveable having negligibly small friction. Low friction and tunable resonance capability enables a multi cell array to capture energy at a resonant frequency that is the most effective for the environmentally imposed forcing.
骨骼肌由许多独立的肌纤维组成,每个肌纤维在紧凑的身体中有效地产生机械输出。一束肌肉纤维的集体行为表现出当今致动器无法产生的独特特征和功能。例如,与传统的电动马达不同,肌肉在机械上是灵活的,并能适应负荷条件。肌肉可以在很宽的范围内改变有效刚度和输出阻抗。此外,具有宽范围的尺寸、力量和自由度的各种肌肉可以从相同的模块构建,即,肌肉纤维。受这种骨骼肌结构的启发,该项目研究了使用致动器材料的细胞人工肌肉,特别是PZT(锆钛酸铅)。像肌肉纤维一样,PZT细胞单元是一个独立的单元,旨在实现最佳效率和功能。使用有效的弯曲,每个PZT单元可以产生与骨骼肌纤维相当的大位移和力。这样的最佳单元不可避免地小到驱动大负载。将PZT单元布置成串联、并联和对抗配置,一束PZT单元共同展现出单个体PZT致动器无法产生的独特特征和功能。其中包括:A)。可变刚度:打开或关闭单个蜂窝单元会对多蜂窝系统的总刚度产生显著变化。B)。量身定制的力-位移特性:通过利用单个单元的开-关非线性并叠加大量非线性函数,我们可以根据任务目标和环境条件定制总的力-位移曲线。这使我们能够在致动器水平上物理地实现动物运动的“工作循环”特性。C)。可变谐振频率:由于每个单元处的挠曲件和PZT堆叠的综合作用,多单元PZT致动器形成了质量弹簧系统网络。这种多自由度系统具有共振频率,在该共振频率下,输出位移变得比其静态冲程大得多,使得诸如扑翼和运行的周期性运动非常有效。此外,各个单元的开-关切换引起质量分布的变化,从而使谐振频率高度可调谐。D)。能量收集:新的驱动器是完全反向驱动具有可忽略的小摩擦。低摩擦和可调共振能力使多单元阵列能够在对环境施加的力最有效的共振频率下捕获能量。
项目成果
期刊论文数量(0)
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会议论文数量(0)
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Haruhiko Asada其他文献
Reinforcement Learning of Assembly Robots
装配机器人的强化学习
- DOI:
10.1007/bfb0027599 - 发表时间:
1993 - 期刊:
- 影响因子:0
- 作者:
Boo;Haruhiko Asada - 通讯作者:
Haruhiko Asada
Industrial Problem Session: Robotics and Discrete Manufacturing
- DOI:
10.1016/s1474-6670(17)61330-2 - 发表时间:
1984-07-01 - 期刊:
- 影响因子:
- 作者:
Yasujiro Oshima;Jozsef Hatvany;Haruhiko Asada;Eichi Nakao;Otmar G. Ladanyi - 通讯作者:
Otmar G. Ladanyi
Experimental Verification of Human Skill Transfer to Deburring Robots
人类技能向去毛刺机器人转移的实验验证
- DOI:
10.1007/bfb0036131 - 发表时间:
1991 - 期刊:
- 影响因子:0
- 作者:
Haruhiko Asada;Sheng Liu - 通讯作者:
Sheng Liu
Progressive learning for robotic assembly: learning impedance with an excitation scheduling method
机器人装配的渐进式学习:使用激励调度方法学习阻抗
- DOI:
10.1109/robot.1995.525640 - 发表时间:
1995 - 期刊:
- 影响因子:0
- 作者:
Boo;Haruhiko Asada - 通讯作者:
Haruhiko Asada
Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles
完整全向飞行器研制及其精确制导方法
- DOI:
10.7210/jrsj.13.249 - 发表时间:
1995 - 期刊:
- 影响因子:0
- 作者:
Akihira Nishikawa;M. West;Haruhiko Asada - 通讯作者:
Haruhiko Asada
Haruhiko Asada的其他文献
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{{ truncateString('Haruhiko Asada', 18)}}的其他基金
NSF Convergence Accelerator Track M: Soft Growing Robots for Mobility Support
NSF 融合加速器轨道 M:用于移动支持的软生长机器人
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2344314 - 财政年份:2024
- 资助金额:
$ 31.35万 - 项目类别:
Standard Grant
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合作研究:NRI:用于老年护理的远程操作可重构步行机器人
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2133072 - 财政年份:2022
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$ 31.35万 - 项目类别:
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Planning Grant: Engineering Research Center for Connected Eldercare
规划资助:互联养老工程研究中心
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2124319 - 财政年份:2021
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Accurate Linearization and Control of Non-linear Physical Systems using Increased Variables
使用增加的变量对非线性物理系统进行精确线性化和控制
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2021625 - 财政年份:2020
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$ 31.35万 - 项目类别:
Standard Grant
Computational Modeling for Predicting 3D Cancer Cell Invasion into the Extracellular Fiber Network
用于预测 3D 癌细胞侵入细胞外纤维网络的计算模型
- 批准号:
1762961 - 财政年份:2018
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$ 31.35万 - 项目类别:
Standard Grant
SBIR Phase I: Wearable Grippers for Hemiplegic Patients
SBIR 第一阶段:偏瘫患者的可穿戴抓手
- 批准号:
1548953 - 财政年份:2016
- 资助金额:
$ 31.35万 - 项目类别:
Standard Grant
Control-Configured Underwater Robots for Precision Multi-Axis Maneuvering
用于精密多轴操纵的控制配置水下机器人
- 批准号:
1363391 - 财政年份:2014
- 资助金额:
$ 31.35万 - 项目类别:
Standard Grant
Stochastic Recruitment and Broadcast Feedback of Cellular Control Systems and Its Application to Muscle Actuators
细胞控制系统的随机募集和广播反馈及其在肌肉执行器中的应用
- 批准号:
0728162 - 财政年份:2007
- 资助金额:
$ 31.35万 - 项目类别:
Standard Grant
Segmented Binary Control of Solid-State Shape-Memory-Alloy Array Actuators for Biologically Inspired Robotic Systems
用于仿生机器人系统的固态形状记忆合金阵列执行器的分段二进制控制
- 批准号:
0413242 - 财政年份:2004
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$ 31.35万 - 项目类别:
Continuing Grant
SGER: Exploratory Research on Wet SMA Array Actuators
SGER:湿式 SMA 阵列执行器的探索性研究
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0322601 - 财政年份:2003
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$ 31.35万 - 项目类别:
Standard Grant
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