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


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  


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


* 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. Material shortage reduction at a semiconductor equipment manufacturing facility through the re-evaluation of inventory management strategies This thesis addresses the material shortage problem in the Supermarket section of the production flo...
  2. Using DMAIC methodology to optimize data processing cycles with an overall goal of improving root cause analysis procedure The main objective of this thesis is to use the DMAIC methodology to streamline customer related pro...
  3. Tracking working set sizes of virtual machines using miss ratio curves Working sets are sets of pages that have been most recently accessed by virtual machines (VMs). They...
  4. Modeling fused filament fabrication machine height accuracy through layer thickness variation This thesis addresses the modeling and prediction of total height error of a 3D printed part using a...
  5. Ultra-wideband radar for robust inspection drone in underground coal mines Coal mines pose a high safety risk for human workers. An autonomous inspection drone would enable a ...

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.