Exploring the Pareto Fronts of Actuation Technologies for High Performance Mechatronic Systems

Csencsics, Ernst; Schitter, Georg

doi:10.1109/tmech.2020.3016087

Cited by 16 publications

(4 citation statements)

References 51 publications

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“…In contrast, most typical production machines considered run at the same time scale rate of minutes to hours. The time required to set the spring at this rate can be roughly approximated by 2-4× the maximum time constant of the reciprocating motion (i.e., inertial forces are much lower than the static spring force), which is t = [2,4] • 1/500 RPM = 0.24 − 0.48 s for our example.…”

Section: Energy Consumption For Spring Pre-settingmentioning

confidence: 99%

“…Many industrial applications feature highly dynamic drivetrains with repetitive motions, such as textile machinery, pick and place robots, and similar lower complexity industrial automation tasks in packaging, but also widespread high-end applications such as lithography scanning [4]. These systems require a relatively high peak power due to the fast reciprocating or intermittent motion, while consuming a considerably lower process power.…”

Section: Introductionmentioning

confidence: 99%

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Novel Adaptive Magnetic Springs for Reliable Industrial Variable Stiffness Actuation

et al. 2023

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Parallel elastic actuation is a highly promising concept for assisting preplanned trajectories such as repetitive tasks in industrial machines and robots. Nevertheless, due to the persisting challenges on spring lifetime, its full potential has yet to be leveraged in the industry. We propose a novel adaptive magnetic spring as a fatigue-free spring mechanism to enable variable stiffness actuators in long lifetime applications. The spring is designed to flexibly deal with variations in operating conditions, i.e., mass customization. We propose a co-design methodology which simultaneously optimizes the sizing of the magnetic spring (for the given machine and its operating conditions), together with the controls and ideal dynamic response of the system. This mechanism and the methodology are applied to a design problem of a weaving machine drivetrain, where the benefits of the adaptive magnetic spring are highlighted with respect to a fixed stiffness magnetic spring, and the current industrial benchmark without springs. Experimentally validated findings show a consistent and considerable improvement with respect to energy consumption and peak torque reduction of up to 47% and 64%, respectively, when comparing to the current industrial benchmark.

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Section: Energy Consumption For Spring Pre-settingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel Adaptive Magnetic Springs for Reliable Industrial Variable Stiffness Actuation

et al. 2023

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“…In applications of precise optical systems [1][2][3], micromanufacturing systems [4][5][6], micro-manipulation systems [7][8][9][10], and so on, rotary piezoelectric actuators (RPAs) are widely used, due to their advantages of high resolution, ultrasonic-type RPA usually drives its rotor by the regular resonant vibration of its stator with a frequency above 20 kHz. The high frequency leads to severe wear and heat problems, which reduce its stability and resolution.…”

Section: Introductionmentioning

confidence: 99%

A large-step stick-slip rotary piezoelectric actuator with high velocity under low frequency and small backward motion

Xun

Zhang

et al. 2023

Smart Mater. Struct.

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Stick-slip rotary piezoelectric actuators (SRPAs) are commonly used nowadays. However, most of them achieve high velocity by high exciting frequency, which causes the problems of wide power-source passband requirement and the wear of actuators. Moreover, their further applications are limited, due to the poor motion stability caused by the backward motion. To solve the problems, the stick-slip process is analyzed with kinematics, indicating that the large step contributes greatly to SRPAs for achieving high velocity under low operating frequency and backward motion elimination. Then a large-step SRPA is proposed, fabricated, and tested. The experiments show that under the sawtooth signal with 100 V and 400 Hz, the prototype can reach a maximum velocity of 1.854 rad/s, benefiting from the large step (above 4.636 mrad). While other works require the exciting frequency of several kilohertz to reach the same level of velocity. Additionally, by increasing the step, the backward ratio decreases from 14.43% to 8.89% at the frequency of 1 Hz, and the minimum no-backward frequency decreases from 120 Hz to 60 Hz. The results indicate the effectiveness of the large step for solving the problems, which is significant for the design of SRPA.

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“…Therefore, in order to achieve larger output displacement, flexurebased displacement amplification mechanisms are often used to amplify the stroke of the PZT [6]. As a kind of electromagnetic actuator, the VCM has been increasingly used in the large-stroke micropositioning/nanopositioning stages [7]. For instance, micropositioning/nanopositioning stages with millimeter or even centimeter ranges were reported in [8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, Testing, and Control of a Novel Fully Flexure-Based Displacement Reduction Mechanism Driven by Voice Coil Motor

Chen

Lai

2022

Actuators

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This paper presents a flexure-based displacement reduction mechanism driven by a voice coil motor to improve the motion resolution and eliminate the hysteresis nonlinearity of the traditional piezo-actuated micropositioning/nanopositioning stages. The mechanism is composed of three groups of compound bridge-type displacement reduction mechanisms, which adopt distributed-compliance rectangular beams to reduce the concentration of stress and improve the dynamic performance of the mechanism. The symmetrical distribution of the structure can eliminate the parasitic displacement of the mechanism and avoid the bending moment and lateral stress applied to the voice coil motor. Firstly, the analytical model of the mechanism is obtained by the stiffness matrix method. The theoretical displacement reduction ratio, input stiffness, and natural frequency of the displacement reduction mechanism are obtained by solving the analytical model. Then, through the static analysis and modal analysis of the mechanism with the Ansys software, the accuracy of the analytical model is verified, and the experimental prototype is also constructed for performance tests. The results show that the maximum stroke of the mechanism is 197.43 μm with motion resolution of 40 nm. The natural frequency is 291 Hz, and the input stiffness is 28.50 N/mm. Finally, the trajectory tracking experiment is carried out to verify the positioning performance of the mechanism. The experimental results show that the designed feedback controller has good stability, and the introduction of the feedforward controller and disturbance observer can greatly reduce the tracking errors.

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Exploring the Pareto Fronts of Actuation Technologies for High Performance Mechatronic Systems

Cited by 16 publications

References 51 publications

Novel Adaptive Magnetic Springs for Reliable Industrial Variable Stiffness Actuation

Novel Adaptive Magnetic Springs for Reliable Industrial Variable Stiffness Actuation

A large-step stick-slip rotary piezoelectric actuator with high velocity under low frequency and small backward motion

Design, Modeling, Testing, and Control of a Novel Fully Flexure-Based Displacement Reduction Mechanism Driven by Voice Coil Motor

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