Coupled magneto-mechanical modeling of non-linear ferromagnetic diaphragm systems

Jayaneththi, Vinura; Aw, Kean C.; McDaid, Andrew

doi:10.1016/j.ijmecsci.2019.03.003

Cited by 18 publications

(7 citation statements)

References 52 publications

(53 reference statements)

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“…The root mean square error (RMSE) error was 1.02. This third order model confirms the coupled MPCs display nonlinear, hyperelastic material properties, similar to previous work [31].…”

Section: Elastic Force Model (E F )supporting

confidence: 89%

“…In addition, variable stiffness allows the manipulator to transition from handling delicate objects to performing large load bearing tasks [30]. MPCs are highly nonlinear, so closed-loop control is a prerequisite for most applications [16,31,32]. However, MPC control and supporting experimental validation is lacking in the current literature.…”

Section: Introductionmentioning

confidence: 99%

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Wireless manipulation using magnetic polymer composites

Jayaneththi

McDaid

2020

Smart Mater. Struct.

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The risk of damage when handling delicate objects can be reduced by using soft actuators. This paper presents a novel wireless magnetic polymer composite-driven system for soft robotic manipulation. Magnetic polymer composites, or MPCs, are wireless soft material actuators capable of large deformation and fast response. In this work, an antagonistic pair of MPCs were utilized to control the position and stiffness of a wireless end-effector. Experimental testing revealed that the proposed system could achieve low error position tracking (root mean square error0.438 mm) and variable stiffness across the workspace. This research confirms the feasibility of using MPC for robotic manipulation in applications where displacement and stiffness are essential performance requirements.

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“…The root mean square error (RMSE) error was 1.02. This third order model confirms the coupled MPCs display nonlinear, hyperelastic material properties, similar to previous work [31].…”

Section: Elastic Force Model (E F )supporting

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Wireless manipulation using magnetic polymer composites

Jayaneththi

McDaid

2020

Smart Mater. Struct.

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“…The configuration of the MPC diaphragm actuator has been outlined in previous works [10,19]. The system, illustrated in figure 1, consists of an MPC diaphragm and single iron-core electromagnet.…”

Section: Overview Of Mpc Diaphragm Actuatormentioning

confidence: 99%

“…The external magnetic field generated by an electromagnetic source coil is inhomogeneous and inversely proportional to the distance cubed [9]. In addition, the inductive properties of magnetic fillers are nonlinear; displaying saturation and hysteretic behavior [10,11]. Reduced magnetic field strength (due to resistive heating) and the viscoelastic properties of the composite material also compound the nonlinear effects [5].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear displacement control of magnetic material actuators

Jayaneththi¹,

Aw²,

McDaid³

2020

Smart Mater. Struct.

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Magnetic polymer composites (MPCs) are soft material actuators capable of large deformation and fast response. They are wirelessly actuated and do not require onboard electronics or a power supply. Despite MPCs potential, the accuracy and reliability of controlling material displacement is unknown. This paper investigates the performance of three controllers for MPC position tracking: open-loop, fixed gain proportional-integral-derivative (PID) and gain scheduled PID. A systematic workflow, from plant identification to controller gain tuning, is presented, as well as a comprehensive experimental analysis of each controller. Due to observed nonlinear behavior, open-loop and fixed gain PID control were inadequate for fast, accurate position tracking. Gain scheduled PID presented a viable and efficient option for closed-loop displacement control.

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“…The electrical insulation also brings about the usage of silicone rubbers in electronic and electrical devices and apparatus [8]. More recently, silicone composites are increasingly utilised in several emerging sectors such as soft robotics [9,10,11,12,13], flexible electronics [14,15], and energy harvesters [16,17,18] due to their large stretchability, reduced dissipative behaviour and other thermal, physical, mechanical, and biological behaviour.…”

Section: Introductionmentioning

confidence: 99%

On the stress recovery behaviour of Ecoflex silicone rubbers

Liao

Yang

Hossain

et al. 2021

International Journal of Mechanical Sciences

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Silicone rubbers are promising materials that have extensively been used in many areas, including wearable electronic devices, actuator materials in soft robotics, and energy harvesters. Ecoflex, a commercially available polymer, is a group of silicone rubbers appearing with various Shore hardnesses that has become popular in recent years. While silicone rubbers in their real applications are subjected to repeated loadingunloading conditions, their mechanical behaviour under cyclic loading in different deformation modes and the corresponding stress recovery behaviour are yet to be well investigated. In this contribution, we conduct loading-unloading cyclic experiments in different time gaps between the first cycle and the second cycle to demonstrate the stress recovery behaviour after stress softening happens during the first cycle. For that, three different modes of deformations, i.e., uniaxial tension, planar tension, and equibiaxial tension tests are selected. Besides, Shore hardness dependence with different strain levels is also taken into consideration. The results show that the stress softening could recover significantly with time. These findings will help to understand the mechanical behaviour of Ecoflex silicone rubbers before selecting them in practical applications that are exposed to repeated loading-unloading cycles.

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Coupled magneto-mechanical modeling of non-linear ferromagnetic diaphragm systems

Cited by 18 publications

References 52 publications

Wireless manipulation using magnetic polymer composites

Wireless manipulation using magnetic polymer composites

Nonlinear displacement control of magnetic material actuators

On the stress recovery behaviour of Ecoflex silicone rubbers

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