Novel Mechatronic Transduction Devices for Actuation, Energy Harvesting, and Vibration Suppression

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Many mechatronic systems such as robots, active suspensions, and energy converters involve electromagnetic machines that interact with mechanical masses, springs, and dampers through intelligent firmware. This research deals with emerging sensor, actuator, energy storage, and semiconductor devices and how they can be integrated through algorithms and machine intelligence to create novel energy transduction devices that excel existing ones in terms of energy-efficiency, size, weight, and cost. The proposed research will further quantify conditions under which battery-less operation of active energy transducers can be achieved through energy recuperation and reuse. To this end, the following steps will be pursued: Mechatronic Inerter-Spring-Damper: Building upon recent research by the applicant, we will first develop a fundamental device called mechatronic inerter, spring, damper (MISD), whose dynamic parameters can be automatically adjusted in real-time through firmware. The design goals include high energy-efficiency, bi-directional power flow, fast response, and possible battery-less operation using supercapacitors. We will obtain conditions under which the energy recuperated through regenerative damping can be used to synthesize the MISD's stiffness and inertance terms. The research will further quantify relationships between various variables including electric machine parameters; motion profile; damper, spring, and inerter coefficients; energy-efficiency; and power requirements. Successful implementation of MISD can impact a variety of disciplines. We consider three separate, but interrelated applications, as follows. (a) Adaptive Kinetic Energy Harvesting: A large class of kinetic power generators are inertial spring-mass resonant systems, which generate maximum power when excited at resonance frequency. Utilizing the MISD concept we will develop a harvester whose mass, spring, and damping terms can be auto-tuned utilizing a multi-variable extremum seeking control approach. (b) Regenerative and Adaptive Vibration and Shock Mitigation: An immediate application of the MISD concept is a shock absorber whose damping coefficient can be controlled in real-time. Utilizing this concept, we will develop a new regenerative device for optimal vibration suppression by utilizing an adaptive tuned-mass-damper using electronically adjustable inerter and damper components. (c) Direct-drive Series Elastic Actuators (SEA) with Bi-directional Power Flow: The MISD concept can impact biologically-inspired SEA devices, by storing mechanical energy and releasing it when large forces are required. It would allow the inertia and elasticity of a SEA to be auto-tuned with minimal energy consumption. This research can impact a broader domain of energy transduction devices. Examples include adaptive tuned-mass-dampers for optimal vibration suppression; auto-tunable suspensions; auto-adjustable elastic tendons; and compliant actuators in advanced robotic systems.