Actuators — Open Access Journal

The plasma synthetic jet actuator (PSJA), also named as sparkjet actuator, is a special type of zero-net mass flux actuator, driven thermodynamically by pulsed arc/spark discharge. Compared to widely investigated mechanical synthetic jet actuators driven by vibrating diaphragms or oscillating pistons, PSJAs exhibit the unique capability of producing high-velocity (>300 m/s) pulsed jets at high frequency (>5 kHz), thus tailored for high-Reynolds-number high-speed flow control in aerospace engineering. This paper reviews the development of PSJA in the last 15 years, covering the major achievements in the actuator working physics (i.e., characterization in quiescent air) as well as flow control applications (i.e., interaction with external crossflow). Based on the extensive non-dimensional laws obtained in characterization studies, it becomes feasible to design an actuator under several performance constraints, based on first-principles. The peak jet velocity produced by this type of actuator scales approximately with the cubic root of the non-dimensional energy deposition, and the scaling factor is determined by the electro-mechanical efficiency of the actuator (O(0.1%–1%)). To boost the electro-mechanical efficiency, the energy losses in the gas heating phase and thermodynamic cycle process should be minimized by careful design of the discharge circuitry as well as the actuator geometry. Moreover, the limit working frequency of the actuator is set by the Helmholtz natural resonance frequency of the actuator cavity, which can be tuned by the cavity volume, exit orifice area and exit nozzle length. In contrast to the fruitful characterization studies, the application studies of PSJAs have progressed relatively slower, not only due to the inherent difficulties of performing advanced numerical simulations/measurements in high-Reynolds-number high-speed flow, but also related to the complexity of designing a reliable discharge circuit that can feed multiple actuators at high repetition rate. Notwithstanding these limitations, results from existing investigations are already sufficient to demonstrate the authority of plasma synthetic jets in shock wave boundary layer interaction control, jet noise mitigation and airfoil trailing-edge flow separation. Full article

Electrically-driven direct current (DC) motors are the core component of conventional robots thanks to the ease of computer control and high torque for their size. However, DC motors are often manually attached and soldered into robotic assemblies, and they are not flexible. For soft robotics, researchers have looked to new, compliant materials that are compatible with 3-D printing or other automated assembly methods. In this work we use a computer-controlled embroidery machine to create flat motor windings in flexible fabrics. We model their electromagnetic fields and present them as linear actuators that move a permanent magnet attached to a cable. The fabrication method puts some constraints on the coil design, which are discussed. However, the planar nature of the embroidered sheets enables the designer to use laminar fabrication methods, such as stacking or layering into parts, during 3-D printing. The soft motor windings produced static holding forces of up to 0.25 N and could lift a 0.3 g mass several cm using direct drive. A 3-D printed mechanical amplifier with two stages was able to quadruple the lifting mass, reducing the travel by a factor of 4. Machine embroidery-installed cables and motor coils could lead to “bolts and nuts free” fabrication of thin, electrically-driven cable actuators. Full article

Dielectric elastomers are in a special class of electro-active polymers known for generating expansion in plane and contraction in thickness under voltage application. This paper advances the understanding of a planar contractile dielectric elastomer actuator (cDEA) that is distinct from conventional multi-layer cDEAs but generates comparable contractile strains. Its structure has a rod-constrained rhombus-shaped electrode region, which undergoes simultaneous in-plane contraction and extension during actuation depending on the configuration of the rod-constraining. It is demonstrated that when the planar cDEA is driven by high voltages, off-plane deformation (i.e., wrinkling) in the direction of contraction causes the rod-constrained electrode region to lose tension and extend in the lateral direction, resulting in a significant increase in contraction strain. It also demonstrates that the contraction strain can be increased further by having biased bi-axial pre-strains. By incorporating both effects, the new cDEA generates a maximum contraction strain of 13%, twice that reported previously for planar cDEAs. A modified planar cDEA, having an additional rigid frame to maintain the pre-strain in the lateral direction to contraction was also developed to demonstrate contractile force actuation. Finally, a stability study shows that the planar cDEA has a primary failure mode of electrical breakdown close to the corners of the rod-constrained electrode region. Having inactive regions around the active cell is essential for generating contraction and eliminating buckling of the planar cDEA in the lateral direction. Full article

The mechanical characterization of biological samples is a fundamental issue in biology and related fields, such as tissue and cell mechanics, regenerative medicine and diagnosis of diseases. In this paper, a novel approach for the identification of the stiffness and damping coefficients of biosamples is introduced. According to the proposed method, a MEMS-based microgripper in operational condition is used as a measurement tool. The mechanical model describing the dynamics of the gripper-sample system considers the pseudo-rigid body model for the microgripper, and the Kelvin–Voigt constitutive law of viscoelasticity for the sample. Then, two algorithms based on recursive least square (RLS) methods are implemented for the estimation of the mechanical coefficients, that are the forgetting factor based RLS and the normalised gradient based RLS algorithms. Numerical simulations are performed to verify the effectiveness of the proposed approach. Results confirm the feasibility of the method that enables the ability to perform simultaneously two tasks: sample manipulation and parameters identification. Full article

Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. The authors’ approach to overcome the drawbacks of conventional DEAs is inspired by the natural skeletal muscles. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. The current study presents a novel fabrication approach, utilizing soft lithography and other microfabrication techniques, to allow fabrication of multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units. Full article

Biodegradable ionic polymer metallic composite (IPMC) electroactive polymers (EAPs) were fabricated using poly(ethylene oxide) (PEO) with various concentrations of lithium perchlorate. Nanocrystalline cellulose (NCC) rods created from a sulfuric acid hydrolysis process were added at various concentrations to increase the EAPs’ elastic modulus and improve their electromechanical properties. The electromechanical actuation was studied. PEONCC composites were created from combining a 35-mg/mL aqueous NCC suspension with an aqueous, PEO solution at varying vol.%. Due to an imparted space charge from the hydrolysis process, composites with an added 1.5 vol.% of NCC suspension exhibited an electromechanical tip displacement, strain, and elastic modulus that was 40.7%, 33.4% and 20.1% higher, respectively, than those for PEO IPMCs without NCC. This performance represented an increase of 300% in the energy density of these samples. However, the electromechanical response decreased when the NCC content was high. NCC without the space charge were also tested to verify the analysis. Additionally, the development of new relationships for modeling and evaluating the time-dependent instantaneous tip angular velocity and acceleration was discussed and applied to these IPMCs. Full article

Because they can achieve a high degree of molecular chain alignment in comparison with their bulk counterparts, the mechanical and thermal properties of polymer nanofibers are of great interest. However, due to their nanometer-scale size, it is difficult to manipulate, grip, and test these fibers. Here, we demonstrate simple repeatable methods to transfer as-drawn fibers to micrometer-scale test platforms where their properties can be directly measured. Issues encountered and methods to minimize measurement artifacts are also discussed. Full article

The evolution of microelectronic technologies is giving constant impulse to advanced micro-scaled systems which perform complex operations. In fact, the actual micro and nano Electro-Mechanical Systems (MEMS/NEMS) easily integrate information-gathering and decision-making electronics together with all sorts of sensors and actuators. Mechanical manipulation can be obtained through microactuators, taking advantage of magnetostrictive, thermal, piezoelectric or electrostatic forces. Electrostatic actuation, more precisely the comb-drive approach, is often employed due to its high versatility and low power consumption. Moreover, the device design and fabrication process flow can be simplified by compliant mechanisms, avoiding complex elements and unorthodox materials. A nano-scaled rotary comb drive is herein introduced and obtained using NEMS technology, with an innovative design which takes advantages of the compliant mechanism characteristics. A theoretical and numerical study is also introduced to inspect the electro-mechanical behavior of the device and to describe a new technological procedure for its fabrication. Full article

The hysteresis motor technology combined with the magnetic suspension makes bearingless hysteresis drives very appealing for high- and ultra-high-speed applications. Such systems exploit the magnetic behavior of the rotor material to achieve mechanical torque, but the hysteresis can significantly influence the magnetic suspension performance. The literature so far has focused mainly on the motor investigation. On the bearing side, the design and the performance assessment have been carried out by neglecting the hysteresis phenomenon of the rotor material. In those cases, the hysteresis of the rotor material is negligible and hence it slightly affects the force generation. In a wider perspective, this paper intends to investigate the force capability of electromagnetic actuators based on materials of large magnetic hysteresis behavior. To this purpose, the proposed numerical model, based on the finite element method, accounts for the magnetic hysteresis. The experimental results confirm the validity of the modeling approach, thus providing a useful tool for the design as well as the investigation of such systems. Full article

This paper investigates the basic deflection properties of polydimethylsiloxane (PDMS) membrane as an actuator component in a microfluidic device. Polydimethylsiloxane membrane is a widely used structure in various applications in microfluidics. Most of the applications using PDMS membrane as actuators are pumps, valves, microlenses, and cell stimulators. In these applications, PDMS membranes are deflected to function by applied pressure. However, based on our literature survey, correlations between thickness, applied air pressure, and the deflection properties of replaceable PDMS membrane have not been theoretically and experimentally investigated yet. In this paper, we first conducted a simulation to analyze the relationship between deflection of the replaceable PDMS membrane and applied pressure. Then we verified the deflection of the PDMS membrane in different experimental conditions. Finally, we demonstrated that the PDMS membrane functioned as a valve actuator in a cell-capturing device as one application. We expect this study would work as an important reference for research investigations that use PDMS membrane as an actuator. Full article

Synthetic jet actuators (SJA) are emerging in various engineering applications, from flow separation and noise control in aviation to thermal management of electronics. A SJA oscillates a flexible membrane inside a cavity connected to a nozzle producing vortices. A complex interaction between the cavity pressure field and the driving electronics can make it difficult to predict performance. A reduced-order model (ROM) has been developed to predict the performance of SJAs. This paper applies this model to a canonical configuration with applications in flow control and electronics cooling, consisting of a single SJA with a rectangular orifice, emanating perpendicular to the surface. The practical implementation of the ROM to estimate the relationship between cavity pressure and jet velocity, jet velocity and diaphragm deflection and applied driving voltage is explained in detail. Unsteady Reynolds-averaged Navier Stokes computational fluid dynamics (CFD) simulations are used to assess the reliability of the reduced-order model. The CFD model itself has been validated with experimental measurements. The effect of orifice aspect ratio on the ROM parameters has been discussed. Findings indicate that the ROM is capable of predicting the SJA performance for a wide range of operating conditions (in terms of frequency and amplitude). Full article

Axial magnetic bearing actuators often lack the bandwidth necessary to achieve the desired closed loop performance due to their nonlaminated construction. Since bandwidth can be directly related to actuator material and geometric properties, an opportunity exists to improve closed loop performance through the optimization of these properties. This prospect is exploited herein, both to demonstrate the improvements that can be obtained and to illustrate the relationship between various parameters and dynamic performance. For the latter, Pareto-optimal curves are generated exploring the influence that disk outer radius, peak force, axial gap, and magnetic permeability have upon actuator bandwidth. Full article

This paper presents the design and testing of a novel flexure-based compliant compound constant-force mechanism (CCFM). One uniqueness of the proposed mechanism lies in that it achieves both constant-force input and constant-force output, which is enabled by integrating two types of sub-mechanisms termed active and passive constant-force structures, respectively. Unlike conventional structures, the active constant-force structure allows the reduction on input force requirement and thus the enlargement of motion stroke provided that the maximum stress of the material is within allowable value. While the passive one offers a safe environmental interaction during the contact process. Analytical model of the proposed CCFM is derived which is verified by simulation study with finite element analysis (FEA). A prototype mechanism is fabricated by a 3D printer to demonstrate the performance of the proposed CCFM design. Experimental results reveal the effectiveness of the reported CCFM. Full article

The number of studies on microgrippers has increased consistently in the past decade, among them the numeric simulations and material characterization are quite common, while the metrological issues related to their performance testing are not well investigated yet. To add some contribution in this field, an image analysis-based method for microgrippers displacement measurement and testing is proposed here: images of a microgripper prototype supplied with different voltages are acquired by an optical system (i.e., a 3D optical profilometer) and processed through in-house software. With the aim to assess the quality of the results a systematic approach is proposed for determining and quantifying the main error sources and applied to the uncertainty estimation in angular displacement measurements of the microgripper comb-drives. A preliminary uncertainty evaluation of the in-house software is provided by a Monte Carlo Simulation and its contribution added to that of the other error sources, giving an estimation of the relative uncertainty up to 3.6% at 95% confidence level for voltages from 10 V to 28 V. Moreover, the measurements on the prototype device highlighted a stable behavior in the voltage range from 0 V to 28 V with a maximum rotation of 1.3° at 28 V, which is lower than in previous studies, likely due to differences in system configuration, model, and material. Anyway, the proposed approach is suitable also for different optical systems (i.e., trinocular microscopes). Full article

Estimations of magnetic flux linkages, either between the stationary windings of the stator for the direct torque control (DTC), or between the stationary windings and the rotor for the sensorless field-oriented control (FOC), are based on integration of corresponding voltages. Integration of voltages with offsets that come from improperly calibrated measurements as well as from transient states generally produces unwanted drifts in the resulting magnetic flux linkages, which when used within any type of control of sensorless electrical drives results in instability. This paper addresses that problem and proposes a simple self-contained solution based on orthogonal properties of waveforms of input voltages and resulting magnetic flux linkages in the frame of reference fixed to the geometry of the stator. The proposed solution requires only two periodic orthogonal input waveforms with a distinct common fundamental harmonic, which as such is independent of the type and parameters of the used machine. The idea of the proposed solution is presented analytically, its stability is proven by means of the quadratic Lyapunov theory, and its functionality is demonstrated by standalone simulations and experiments within the sensorless FOC of a permanent magnet synchronous machine (PMSM). Full article

High-authority piezoelectric actuator (HAPA) is a term used to describe high-performance piezoelectric actuators of relatively large displacement (≥50 μm) and high blocking force (≥100 N), but compact in size. One such piezoelectric actuator is described in this paper, which is made possible by means of high-bending-stiffness connector (HBSC) that connects multiple commercial piezoceramic stacks into a stable 2- (or multi-) level actuation configuration. Key design requirements for the HBSC are described. Computer simulation results and experimental verification are presented. A HAPA-(2 + 2) actuator was fabricated from such a HBSC, in which there are two commercial PZT stacks projecting upwards in the upper level and two projecting downwards in the lower lever, all of 5 × 5 mm² in cross-section and 40 mm in length. The HAPA-(2 + 2) actuator prototype displays about twice the overall stroke and blocking force of individual stacks, being about 90 μm and >1600 N, respectively. This compares favorably with lever-arm, flextensional, and telescopic actuators, of which the blocking force is adversely affected. Using a similar concept, HBSCs and HAPAs of other designs are presented. In addition to being stand-alone actuators, the HAPAs can be used as the active material to drive existing displacement amplification schemes to produce piezoelectric actuators of exceptional performance characteristics. Full article

High fidelity (Hi-Fi) piezoelectric single crystal stake actuators are presented in this work. They are made of multiple rectangular d₃₂ mode lead-based relaxor ferroelectric (notably Pb(Zn_1/3Nb_2/3)O₃-PbTiO₃ (PZN-PT) and Pb(In_0.5Nb_0.5)O₃-Pb(Mg_1/3Nb_2/3)O₃-PbTiO₃ (PIN-PMN-PT)) single crystals bonded along their long edges with the aid of compliant polymeric edge guides into a square or polygonal pipe-like construction. Due to the highly stable engineered domain structure and high piezoelectricity of single crystal active materials, the actuators exhibit large linear displacement responses with negligible (<1%) hysteresis. Prototypes of square-pipe stake actuators were first fabricated and their phase transformation curves under different applied voltages, axial compressive loads and temperatures were established. Based on the information obtained, a range of Hi-Fi stake actuators with external square cross-sections of 5 × 5 mm², 7.5 × 7.5 mm² and 10 × 10 mm², each of 4 different overall lengths of 15, 28, 41 and 54 mm, were further designed and fabricated using either PZN-PT or PIN-PMN-PT single crystals (both with T_RO ≈ 110–125 °C) of 0.4 mm in crystal thickness. The stroke for the longest stake actuator fabricated (L = 54 mm) reaches −58 µm at 240 V. The working conditions, over which these Hi-Fi stake actuators remain linear with negligible hysteresis, were established for a total load of up to 10 kg and use temperature of up to 40 °C. Full article

In many studies concerning synthetic jet flow fields the analysis is usually restricted to simple configurations, such as a single diaphragm oscillating in a cylindrical cavity, which is linked to the external environment with only one orifice/slot. Nonetheless, in many applications the requirement of small sizes and weights leads to many implementation issues, such as asymmetric actuator geometries, presence of several slots and diaphragms and irregular cavity shapes. Therefore, the design of a synthetic jet actuator for a specific flow control problem requires a dedicated study in order to characterize its behavior even in quiescent conditions. The aim of this work is to investigate the behavior of a novel synthetic jet actuator, composed of three independent diaphragms, acting on a single cavity, and linked to the external environment through four slots per diaphragm. The device has been studied in quiescent conditions, both numerically and experimentally. The experimental investigation has been carried out by means of hot-wire measurements. In particular, the distribution of the phase-averaged streamwise velocity along the slot spanwise direction has been detected near the slot exit plane. From the computational side, incompressible direct numerical simulations have been carried out using the open-source OpenFOAM code. The diaphragm motion is mimicked by a inhomogeneous inlet boundary condition, whose amplitude is chosen to match the experimental velocity at the exit plane. A fair agreement between the numerical and the experimental results is achieved for both the velocity field at the slot exit and the main non-dimensional parameters of the synthetic jet. After the validation, the numerical results are finally processed, to obtain information about the vortex motion in the external environment. Full article