1) La descarga del recurso depende de la página de origen
2) Para poder descargar el recurso, es necesario ser usuario registrado en Universia


Opción 1: Descargar recurso

Detalles del recurso

Descripción

The PZT cellular actuator developed in the MIT d'Arbeloff Laboratory utilizes small-strain, high-force PZT stack actuators in a mechanical flexure system to produce a larger-strain, lower-force actuator useful in robotic systems. Many functionalities for these cellular actuators are developed which can have great impact on robotic systems and actuation itself. After initial exploration into other possible circuitry, a circuit is designed to recovery unused energy for the PZT cells. The circuit design is formed around a proposed method of distributed actuation using PZT cells which imposes that different PZT cells will be activated during different periods such that the charge from some cells can be transferred to others. If the application allows actuation which can conform to this criteria, the developed circuit can be used which, without optimization, can save ~41% of the energy used to drive the actuators with a theoretical upper limit on energy efficiency of 100%. A dynamic system consisting of multiple PZT actuators driving a linear gear is analyzed and simulated which can achieve a no load speed 2.4 m/s with minimal actuators. Then, the two-way transforming properties of PZT stack actuators are utilized to allow dual sensing and actuation. This method uses an inactive PZT cell as a sensor. With no additional sensors, a pendulum system driven by antagonistic groups of PZT cells is shown to find its own resonance with no system model. These functionalities of charge recovery, distributed actuation, and dual sensing and actuation set the PZT cellular actuator as an important contribution to robotic actuation and begin to illuminate the possible impacts of the concept. The design and analysis described reveals many possibilities for future applications and developments using the PZT cellular actuator in the fields of actuation and robotics.

Pertenece a

DSpace at MIT  

Autor(es)

Barragán, Patrick R - 

Id.: 55228913

Idioma: eng  - 

Versión: 1.0

Estado: Final

Tipo:  82 p. - 

Palabras claveMechanical Engineering. - 

Tipo de recurso: Thesis  - 

Tipo de Interactividad: Expositivo

Nivel de Interactividad: muy bajo

Audiencia: Estudiante  -  Profesor  -  Autor  - 

Estructura: Atomic

Coste: no

Copyright: sí

: M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Formatos:  82 p. - 

Requerimientos técnicos:  Browser: Any - 

Fecha de contribución: 13-ago-2016

Contacto:

Localización:
* 785723345

Otros recursos del mismo autor(es)

  1. Interactive Bayesian identification of kinematic mechanisms This paper addresses the problem of identifying mechanisms based on data gathered while interacting ...
  2. Interactive Bayesian identification of kinematic mechanisms This thesis addresses the problem of identifying mechanisms based on data gathered from a robot's in...
  3. Exciting youth about science and engineering : the Stirling Engine class The problem of a lack of science and engineering opportunities for youth has been identified. While ...

Otros recursos de la mismacolección

  1. Privatizing the Saudi electricity sector Electricity demand in Saudi Arabia has been growing rapidly with an average peak demand growth rate ...
  2. Optimizing inventories and standardizing planning procedure in a multipart manufacturing system This work illustrates how to apply a multi-echelon periodic review base-stock model to a real manufa...
  3. Product availability improvement for analytical column supply chain : inventory optimization and lot sizing This thesis demonstrates the potential of a structured safety stock policy, and an improved lot sizi...
  4. Chamber matching in semiconductor manufacturing using statistical analysis and run-to-run control This thesis focuses on a chamber matching methodology for semiconductor manufacturing in Analog Devi...
  5. Influence maximization over a network : static and dynamic policies The problem of maximizing the spread of an opinion inside a social network has been investigated ext...

Aviso de cookies: Usamos cookies propias y de terceros para mejorar nuestros servicios, para análisis estadístico y para mostrarle publicidad. Si continua navegando consideramos que acepta su uso en los términos establecidos en la Política de cookies.