This paper presents a comprehensive model for piezoceramic actuators (PAs), which accounts for hysteresis, non-linear electric field and dynamic effects. The hysteresis model is based on the widely used general Maxwell slip model, while an enhanced electro-mechanical non-linear model replaces the linear constitutive equations commonly used. Further on, a linear second order model compensates the frequency response of the actuator. Each individual model is fully characterized from experimental data yielded by a specific PA, then incorporated into a comprehensive 'direct' model able to determine the output strain based on the applied input voltage, fully compensating the aforementioned effects, where the term 'direct' represents an electrical-to-mechanical operating path. The 'direct' model was implemented in a Matlab/Simulink environment and successfully validated via experimental results, exhibiting higher accuracy and simplicity than many published models. This simplicity would allow a straightforward inclusion of other behaviour such as creep, ageing, material non-linearity, etc, if such parameters are important for a particular application.Based on the same formulation, two other models are also presented: the first is an 'alternate' model intended to operate within a force-controlled scheme (instead of a displacement/position control), thus able to capture the complex mechanical interactions occurring between a PA and its host structure. The second development is an 'inverse' model, able to operate within an open-loop control scheme, that is, yielding a 'linearized' PA behaviour. The performance of the developed models is demonstrated via a numerical sample case simulated in Matlab/Simulink, consisting of a PA coupled to a simple mechanical system, aimed at shifting the natural frequency of the latter.
Compliant mechanisms have a wide range of applications in microassembly, micromanipulation and microsurgery. This article presents a low cost Flexure-Stage actuated by two SMA-wires that produce displacement in one direction in a range from 0 to 10 碌m. The Flexure-Stage reduces and changes the direction of the SMA actuator output displacement. The Flexure-Stage system has its application in microassembly operation and was built at cost of US$ 35 cost. The flexure-stage from concept design through FEA modeling and finally to construction and characterization is presented in this paper.
This paper presents an analysis of the problem of reorientation of a riser pipe from an initially horizontal configuration during subsurface tow to the vertical position for installation. Front and rear barges support the pipe through cables. The orientation into a vertical configuration is accomplished by paying out the front cable. The pipe is treated as a Bernoulli-Euler beam with significant tension undergoing large angle deflections. A finite element procedure used state transfer matrices and successive linearization and the results show that the stress critical phase occurs when the pipe is going through the 60-deg angle to the horizontal direction.
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