In this paper, the researchers have described the development, design and characterization of a Switched Reluctance (SR) actuator, with a rotary motion, having a single-excitation activity. This SR actuator design consisted of a stator and rotor core and was based on the simplest SR actuator model design, with a Stator-to-Rotor pole ratio (S: R) of 6:4. In this design, the winding was coiled at Phase A, which enabled the single step motion characterization based on a single excitation. This SR actuator prototype showed a compact size, with a 36 mm stack length and a 60 mm outer diameter. This feature allowed small machine applications like the precision robotic machining, but required a low production cost, as it lacked a permanent magnet. On the other hand, the SR actuator consisted of highly non-linear characteristics and showed uncontrolled motion behavior. While achieving a very precise motion, it is important to suppress the non-linear characteristics of an actuator. Hence, the researchers designed the linearizer unit based on its characterization at Position 0°, which was related to the excitation current and the rotary angles for the various initial rotor positions. This initial position was chosen as it reflected the characteristics which indicated the self-starting characteristics. Thereafter, the researchers experimentally investigated the appropriate driving signal for this SR actuator as the normal step input signal showed a lower precision motion because of the discharging effect-related issues.
Soft crawling robots (SCRs) are the kind of robots that use soft and flexible material for motion. These soft robots capable to sustain huge distortions with vast degree-of-freedom which makes them more suitable to be employed in unstructured location compared to the conventional rigid robots. Unlike soft robotics, the conventional rigid robots are capable to be employed in situations where precision is required. However, soft robots are preferable in tight spaces such as in medical surgery and earthquake search and rescue operations due to its flexibility and adaptability capability. In this research, two types of soft robots were design using i.e.: (a) inchworm design and (b) quadrupedal design. The similarities between the inchworm and quadrupedal design are both use pressure input for motion. The SCRs also bend by using the expansion of chambers at their body. Both designs have the same length fixed at 86mm, but with different topology. The design optimization for maximum bending motion with respect to input pressure were evaluated using Finite Element Method (FEM) via Abaqus software, where the results shows that the highest bending was observed for the inchworm design. The maximum bending value (extension) of 130.4 mm was obtained with the optimized parameters set at 4mm base thickness, 5mm chamber gap, and 2mm width for the air chamber, respectively.
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