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Chuanchao, Yan, and Zhao Wen. "The use of pneumatic cylinders with return springs when creating mechanical drives with recuperative energy." MATEC Web of Conferences 287 (2019): 01028. http://dx.doi.org/10.1051/matecconf/201928701028.
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The use of pneumatic cylinders with return springs in mechanical drives with reusable energy for reusable and continuum movements, fixing the output link in the extreme positions are considered. A defined range of work operations can be used by these cylinders. The use of pneumatic actuators with return springs in mechanical drives based on linear spring batteries with two springs is proposed. Algorithms for compensating dissipative losses in mechanical spring drives are considered. The maximum mass values that can be moved by such mechanical drives for each size of the pneumatic cylinder are determined. It is proposed to use pneumatic cylinders with return springs in mechanical drives with energy recovery based on nonlinear spring batteries. A mechanical spring drive for unwinding rolls of packaging materials with discrete modes. In tasks of reciprocating movement of objects with a controlled stand in extreme positions, the reduction of energy costs is achieved when using mechanical spring drives with energy recovery. Energy costs can be reduced several times. Traditionally, a spring-loaded drive contains a linear or non-linear spring-loaded battery, a control system, controlled clips and a motor to compensate for dissipative losses. The use of electric motors to compensate for dissipative losses is also limited by low speed, as compensation for dissipative losses occurs throughout the displacement and with high speed increases engine power and requires transmission with a large gear ratio.
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Kosaki, Takahiro, Yoshihiro Morinaga, and Manabu Sano. "Prototype Development of a Parallel-Link Robot Actuated by Pneumatic Linear Drives with Variable Inclination Mechanisms." International Journal of Automation Technology 8, no. 2 (March 5, 2014): 169–76. http://dx.doi.org/10.20965/ijat.2014.p0169.
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Parallel-link robots are generally high in power and precision because of their parallel arrangement of actuators. However, they have a workspace smaller than that of serial-link robots. In this paper, we develop a parallel-link robot prototype with pneumatic linear drives in which a mechanism for varying the actuator inclination is incorporated to enlarge the workspace. Our parallel-link robot realizes the rotational and translational motions of the end effector principally by means of the linear reciprocating motions of pneumatic linear drives mounted on the base. Auxiliary pneumatic actuators are used to adjust the inclination angles of those main pneumatic linear drives. The use of pneumatic actuators to realize the proposed parallel-link robot results in a lightweight, compact, and low-cost construction. The workspace and motion transmissibility of our parallel-link robot are analyzed through simulations based on kinematics; then, experimental investigations are carried out using the prototype.
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Zhao, Wen, and Victor Leonidovich Zhavner. "The use of pneumatic cylinders with a return spring to compensate for balance losses in mechanical regenerative drives for reciprocating movements." MATEC Web of Conferences 287 (2019): 01027. http://dx.doi.org/10.1051/matecconf/201928701027.
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Mechanical spring drives with energy recovery are designed to produce return-rotational movements in various technological equipment and reduce energy costs by several times compared with traditional electromechanical, hydraulic and pneumatic drives. The use of pneumatic motors in spring drives to compensate for dissipative losses, fixing the drive in extreme positions and the primary charging of spring batteries is considered. The class of tasks in which spring drives with energy recovery are created using only pneumatic cylinders with return springs is highlighted. This study examines mechanical spring drives with energy recovery, based on nonlinear spring batteries with spring preload in the middle position of the output link. The use of pneumatic actuators with return springs in mechanical drives based on linear spring batteries with two springs is proposed. Mechanical spring drives with energy recovery are designed to produce return-rotational movements in various technological equipment and reduce energy costs by several times compared with traditional electromechanical, hydraulic and pneumatic drives. The amount of energy expended in spring recuperative drives is actually determined by the energy expended on compensating for dissipative losses in kinematic pairs. The results of the study allow the designers of such drives to consciously approach the choice of their schemes and design parameters.
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Pu, J., and R. H. Weston. "Steady State Analysis of Pneumatic Servo Drives." Proceedings of the Institution of Mechanical Engineers, Part C: Mechanical Engineering Science 204, no. 6 (November 1990): 377–87. http://dx.doi.org/10.1243/pime_proc_1990_204_118_02.
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This paper introduces new approaches and design models aimed at determining the steady state behaviour of pneumatic servo drives. Relationships characterizing actuator velocity and chamber pressure with respect to valve displacement are established. Certain parameter ratios are defined and a novel analytical solution is offered, which may provide the basis of a better and more useful design methodology than conventional graphical methods. The observations and analysis are applicable to both linear (symmetric and asymmetric) and rotary drives controlled by either a single five-port servo valve or two independent three-port servo valves.
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Saravanakumar, D., and B. Mohan. "Fuzzy Based Control System for Interconnected Pneumatic Cylinder Linear Positioning System." Applied Mechanics and Materials 592-594 (July 2014): 2145–49. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2145.
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Pneumatic drives have many advantages over other actuators in terms of efficiency and safety which enable them to be used in many applications. In the present study, a new method of position manipulator with two pneumatic cylinders which are interconnected has been presented. Nonlinear mathematical model of the system has been formulated. Using Matlab-Simulink software, the system has been simulated. Fuzzy based control system has been designed for the system. From the various responses and indices it is observed that the fuzzy based control system has better performance than PID based control system. Also it is observed that the system with fuzzy controller has better setpoint tracking characteristics.
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Efremova, K. D., and V. N. Pilgunov. "Pneumatic Automation Tools: Pneumatic Muscle." Mechanical Engineering and Computer Science, no. 10 (November 20, 2017): 36–56. http://dx.doi.org/10.24108/1017.0001315.
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The traditional actuating motor for pneumatic drives is a differential double-acting pneumatic cylinder used to create a pushing force that is significantly larger than the pulling force. The pneumatic muscle is a single-acting operating motor to be used for creating a pulling force. The pneumatic muscle is based on a cylindrical bladder (a thin two-dimensional elastic structure) property to change its shape or size upon applying overpressure of actuating medium to it.The paper objective is to present this new type of the actuating motor to a wide range of specialists in pneumatic automation. Using a bladder structure of the pneumatic muscle of the MAS family, company "FESTO" as an example, the paper considers a physical nature of its operation and defines a dependence of the force, developed by a pneumatic muscle in its internal cavity, on the overpressure value and the value of contraction. Describes an experimental setup to study static and dynamic characteristics of the pneumatic muscle, as well as a design of the loading and measuring device.The experimental study allowed us to obtain static and dynamic characteristics of the pneumatic muscle MAS 10-300: dependencies "force - contraction", "force - overpressure", and “contraction -overpressure". The averaged predicted value of the braid angle of impulsion of the cord thread for three sizes of the MAS family pneumatic muscle is determined according to German FESTO Product Catalogue to be 23 ... 25.5°.It is shown that the force curve of the pneumatic muscle is essentially nonlinear: the curve linearity is evident only when the pneumatic muscle contractions are, at most, 2% of its original length. Dynamic properties of the pneumatic muscle loaded with a constant force were evaluated through analysis of frequency characteristics: the operating frequency of the pneumatic muscle was f = 3 ... 6 Hz.The paper presents the reproducibility data of the force characteristic of a pneumatic muscle during its cyclic constant-value over-pressurisation p = 4 bar with a frequency f = 0.5 Hz.The researches have shown that with the cyclic over-pressurisation of the pneumatic muscle the force-value deviations from its averaged value are of systematic nature, depend on the number of loads, and so cannot be estimated by statistical characteristics. The paper considers an operating mode of the pneumatic muscle, as an extension spring, which is appropriate to the external force application to the pneumatic muscle to ensure return of the pneumatic muscle to the initial position after its contraction under over-pressurisation. An average value of the pneumatic spring stiffness is obtained from the force characteristic of the pneumatic muscle through its piecewise-linear approximation within the specified range of change in the contraction value. A comparative estimate of the forces developed by pneumatic muscles and pneumatic cylinders with equal working areas is given. It has been found that the pneumatic muscle contraction force exceeds the pulling force of the pneumatic cylinder, on average, 12 ... 14 times, but this advantage comes out only when the contractions of a pneumatic muscle are small. The usability of a short pneumatic muscle, as a control and loading device for the gates of hydraulic and pneumatic valve-type automation devices, has been investigated.
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Szíki, Gusztáv Áron, Attila Szántó, and Tamás Mankovits. "Dynamic modelling and simulation of a prototype race car in MATLAB/Simulink applying different types of electric motors." International Review of Applied Sciences and Engineering 12, no. 1 (March 20, 2021): 57–63. http://dx.doi.org/10.1556/1848.2020.00145.
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AbstractNowadays, vehicles with alternative drives are playing an increasingly important role in road transport. Among the various types of alternative-drives, the most widespread ones are hybrid and electric ones, thanks for the rapid development of modern batteries, and hybrid and electrical systems. The above fact establishes the importance of research on various types of electric motors. The Faculty of Engineering of the University of Debrecen has more than a decade of experience in developing prototype race cars with pneumatic and electric drive. For the more effective and conscious development and racing a simulation program has been developed in MATLAB/Simulink environment for the computation of the dynamic functions of a vehicle moving in a linear path. The program is characterized by a modular structure, so the different structural units (vehicle body, front and rear wheels, power train, motor) are modelled and simulated separately. In this study we present models and simulation programs for different electric motor types (series-wound DC and brushless DC motors) in MATLAB/Simulink and apply them in our vehicle dynamics simulation program. From the simulation results the performance of a vehicle – driven by an electric motor – can be predicted in a race situation, consequently the most suitable motor with the optimal characteristics can be selected to it.
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Посметьев, Viktor Posmetev, Канищев, Denis Kanishchev, Попиков, Petr Popikov, Стороженко, and Stanislav Storozhenko. "Modeling workflows of energy-saving hydraulic drive of technological equipment of timber-hauling machine." Forestry Engineering Journal 5, no. 1 (May 1, 2015): 223–34. http://dx.doi.org/10.12737/11280.
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Workflow mechanisms of forestry cranes tower rotation are accompanied by large dynamic loads that cause sudden changes in fluid pressure in balancing and braking modes. When the rotary column stops at different positions damping of pressure of the working fluid vibration occurs due to its overflow from one chamber to another through an orifice, wherein the hydraulic energy is transformed into heat one, resulting in overheating and energy loss of fluid. Efficient are energy-saving hydropneumatic drives of column of the manipulator which are able to recover energy during transient conditions and to return some of the energy back into the system. For hydraulic manipulators with four paired hydraulic cylinders of rotation mechanism of the column one pair of cylinders is proposed to be replaced by pneumatic cylinders connected to a rotary column through the gear and toothed rack that allows you to transfer it into recovery mode of energy. A mathematical model of the boom rotation of the manipulator is developed; equations for a hydro pneumatic system recovery are made. In the model three mechanical processes are considered: the rotational movement of the column about the vertical axis of the manipulator, the forward movement of the plunger along the axis of the damper, and sway of the load relative to the attachment point on the manipulator arm. To solve the system of differential equations, computer program for the simulation of hydraulic manipulator equipped with a hydraulic damper is composed. The dependence of the restoring force of the displacement of the toothed rack is get. In the vicinity of the equilibrium position, this dependence is nearly linear over a wide range of rack movement: from about 50 to 180 mm. With significant turns of the column volume of one of the chambers of the air cylinder approaches zero value, whereby the restoring force of the module increases significantly, which helps braking of the column in the final step of rotation and influences the process of energy accumulation.
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Masella, Piernicola, Lorenzo Guerrini, Alessandro Parenti, Fabio Baldi, and Paolo Spugnoli. "Performance of a driven hitch-cart for draft animal power under different power take-off torque and ballast levels condition." Journal of Agricultural Engineering 47, no. 4 (December 15, 2016): 230. http://dx.doi.org/10.4081/jae.2016.538.
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The performance of a two-wheel driven hitch-cart designed for draft animal power has been assessed. The cart fits a three-point linkage system and a ground-driven power take-off (PTO). Conventional pneumatic tires and metallic wheels have been tested in dedicated draft trials with increasing torque applied to PTO (7.0 to 70 Nm) at two ballast levels (100 and 200 kg). Draft force varies from a minimum of about 760 N (pneumatic tires and the lowest ballast), up to about 4480 N (metallic wheels and the highest ballast), with a linear increase as a function of the PTO applied torque. In term of global efficiency the better performances was achieved in different conditions. The metallic wheels deliver greater power to the PTO than pneumatic tires. Furthermore, they had global efficiencies higher than pneumatic for high power requirements, while the pneumatics perform better when the required power is low. Slippage rises as a function of increasing torque and decreasing ballast, with metallic wheels allowing delivery of greater PTO torque at the same slippage extent. The performances of the cart are consistent with the use of implements designed for small tractors.
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Zhang, Ming Zhe, Wei Wang, Dong Ning Su, Kang Min Zhong, and Zhi Ming Sui. "Mechanical-Electronic-Hydraulic Integration: Light Load Linear Reciprocating Motion Device Having Variable Frequency, Displacement and Velocity." Advanced Materials Research 279 (July 2011): 377–81. http://dx.doi.org/10.4028/www.scientific.net/amr.279.377.
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The light load linear reciprocating motion device driven by a small-size pneumatic cylinder is most economical, but its velocity and location precision is not good. When substituting the drive for small-size hydraulic cylinder, the significant shortcoming is environmental pollution. If the motion is achieved through rolling screw-nut mechanism driven by stepping motor, the space layout is very inconvenient. A light load linear reciprocating motion device integrating mechanical, electronic and hydraulic technology is designed. In this device, the motion is achieved through short-stroke rolling screw-nut mechanism driven by stepping motor, and then amplified by a splendid internal reflux area effect stroke amplifier. This device has the following noticeable advantages: (1) The location of output hydraulic cylinder is as convenient as common pneumatic or hydraulic cylinder. (2) The frequency, displacement and velocity of reciprocating motion can be altered convenient by programming. (3) Higher position precision. (4) The hydraulic fluid in the device is enclosed, so there is no environmental pollution causing by oil leakage and volatilization.
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Rouzbeh, Behrad, and Gary M. Bone. "Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators." Actuators 9, no. 3 (September 14, 2020): 86. http://dx.doi.org/10.3390/act9030086.
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Hybrid pneumatic–electric actuators (HPEAs) are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators. It has been shown that HPEAs can provide both accurate position control and high inherent safety, due to their low mechanical impedance, making them a suitable choice for driving the joints of assistive, collaborative, and service robots. If these characteristics are mathematically modeled, input allocation techniques can improve the HPEA’s performance by distributing the required input (force or torque) between the redundant actuators in accordance with each actuator’s advantages and limitations. In this paper, after developing a model for a HPEA-driven system, three novel model-predictive control (MPC) approaches are designed that solve the position tracking and input allocation problem using convex optimization. MPC is utilized since the input allocation can be embedded within the motion controller design as a single optimization problem. A fourth approach based on conventional linear controllers is included as a comparison benchmark. The first MPC approach uses a model that includes the dynamics of the payload and pneumatics; and performs the motion control using a single loop. The latter methods simplify the MPC law by separating the position and pressure controllers. Although the linear controller was the most computationally efficient, it was inferior to the MPC-based controllers in position tracking and force allocation performance. The third MPC-based controller design demonstrated the best position tracking with RMSE of 46%, 20%, and 55% smaller than the other three approaches. It also demonstrated sufficient speed for real-time operation.
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Mohamed, Mahmoud H., Soha H. Wagdy, Mostafa A. Atalla, Aliaa Rehan Youssef, and Shady A. Maged. "A proposed soft pneumatic actuator control based on angle estimation from data-driven model." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 234, no. 6 (March 17, 2020): 612–25. http://dx.doi.org/10.1177/0954411920911277.
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This article proposes a bending angle controller for soft pneumatic actuators, which could be implemented in soft robotic rehabilitation gloves to assist patients with hand impairment, such as stroke survivors. A data-driven model is used to estimate the angle as pneumatic pressure is applied to the actuator. Furthermore, a finite element model was used to manually optimize the dimensions of the actuator. An embedded flex sensor, which together with a custom testing rig, was used to gather input data for the data-driven model. This rig contains a pneumatic pressure control circuit as well as a camera for image acquisition. Collected data were fed into a linear regression model to predict the data-driven model. Experiments were carried out to validate model’s accuracy as well as modified proportional–integral–derivative controller angle controller performance. The latter controller is designed to mitigate the non-linear response of solenoid valves at different pressures of the actuator. The data-driven model along with the used controller allows more accurate estimation and quicker response.
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Li, Jun, Joonmyeong Choi, Kenji Kawashima, Toshinori Fujita, and Toshiharu Kagawa. "Integrated Control Design of Pneumatic Servo Table Considering the Dynamics of Pipelines and Servo Valve." International Journal of Automation Technology 5, no. 4 (July 5, 2011): 485–92. http://dx.doi.org/10.20965/ijat.2011.p0485.
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In this paper, integrated control design for the pneumatic servo table system considering the dynamics of pipelines and servo valve is studied. The table is mainly composed by a pneumatic actuator, a highperformance pneumatic servo valve and pipelines. The pneumatic actuator utilizes a pneumatic cylinder with air bearings. The servo valve has high dynamics up to 300 Hz and is connected to the pneumatic actuator by pipelines. The system is pneumatically driven, providing the advantages of low heat generation and non-magnetic, nature suited to precise positioning. To simulate the system, we designed a linear model considering pipelines and servo valve dynamics. Comparison results showed that with a 7thorder linear model, the discrepancy between experiment and simulation results was much smaller than when using a 3rdorder model. The model’s complexity made it necessary to reduce the model’s order. Two poles are much further from the imaginary axis compared with other five poles in the pole loci of the 7thorder model, so the model is reduced to a 5thorder. A comparison of simulation and experiment results showed that the 5thorder model matches the real system well.
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Kitamura, T. "Design of a Portable Artificial Heart Drive System Based on Efficiency Analysis." Journal of Biomechanical Engineering 108, no. 4 (November 1, 1986): 350–54. http://dx.doi.org/10.1115/1.3138627.
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This paper discusses a computer simulation of a pneumatic portable piston-type artificial heart drive system with a linear d-c-motor. The purpose of the design is to obtain an artificial heart drive system with high efficiency and small dimensions to enhance portability. The design employs two factors contributing the total efficiency of the drive system. First, the dimensions of the pneumatic actuator were optimized under a cost function of the total efficiency. Second, the motor performance was studied in terms of efficiency. More than 50 percent of the input energy of the actuator with practical loads is consumed in the armature circuit in all linear d-c-motors with brushes. An optimal design is: the piston cross-sectional area of 10.5 cm2 cylinder longitudinal length of 10 cm. The total efficiency could be up to 25 percent by improving the gasket to reduce the frictional force.
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Otsuka, Jiro, and Sadaji Hayama. "Special Issue on Precision and Ultraprecision Positioning." International Journal of Automation Technology 3, no. 3 (May 5, 2009): 223. http://dx.doi.org/10.20965/ijat.2009.p0223.
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I have been the chairman of the technical committee of ultraprecision positioning at the Japan Society of Precision Engineers (JSPE) from 1993 to 1997. In November 2008, the 3rd International Conference on Positioning Technology (ICPT) was held in Shizuoka, Japan. After the conference I together with Dr. Sadaji Hayama, an adviser of the journal editorial board, asked by mail the most significant presenters and members of the technical committee of ultraprecision positioning if they are willing to contribute their papers for this special issue. As a result, we received more than 20 manuscripts, among which 2 development reports, 2 reviews, and 14 papers have been selected for publication in this journal. The contents of these papers relate mainly to the nano/subnanometer positioning technology, new control methods for ultraprecision positioning, guide way for precision positioning, positioning for ultraprecision machining, new hard disk drive method, etc. I would like to express my sincere gratitude to the authors for their interesting papers on this issue and I also would like to deeply thank all the reviewers and editors for their invaluable effort.1. Demarcation Between Precision Positioning and Ultraprecision Positioning The Technical Committee of Ultraprecision Positioning (TCUP) has had a poll on Ultraprecision and Ultraprecision technology to the randomly selected members of Japan Society for Precision Engineers (JSPE) every four years since 1986 [1]. Results indicate that most respondents felt that the maximum allowable positioning error and image resolution was 1 µm for precision positioning and 10 nm for ultraprecision positioning. After 2004, most respondents appeared to view 0.1 nm as the demarcation line between the precision positioning and ultraprecision positioning.2. Know-How for Achieving Ultraprecision Positioning The champion device in ultraprecision positioning is always the stages of demagnification exposure devices for semiconductors. The exposure method using stages have advanced from 1980s steppers shown in Fig. 1(a) to today's scanning stages with the increasement of LSI capacity in achieving higher processing as shown in Fig. 1(b). The stepper consists of X and Y stages.The XY stages in the 1980s consisted of a DC servomotor, either a ball or sliding screw plus a linear guide way consisting of either rollers or a slide guide. Current scanning type consists of a linear motor and pneumatic hydrostatic guide way (Fig. 1(b)). Reticle and wafer stages travel in opposite directions and the relative positioning error is about 1 nm.Ultraprecision positioning of sub-µm accuracy is now achieved either by an AC servomotor and a ball screw or by using a linear motor. subsection2.1. Achieving high positioning resolution and accuracy with less than 0.1 µm generally depends on three factors: newpage(1) Displacement sensors for feed-back(2) Mechanical structure(3) Control, including software Ultraprecision positioning is possible only when these three factors are well coordinated.(1) Displacement Sensors Ultra-precision positioning requires high-performance displacement sensors. About 10 sensor manufacturers in Japan alone currently achieve resolution under 1 nm [3]. To achieve higher resolution, laser interferometers must operate in thermostatic chambers controlling or monitoring temperature, humidity, and atmospheric pressure. Great effort is required to minimize or eliminate air turbulence and inhomogeneous atmosphere temperatures in the laser beam path. To achieve nm level resolution, operations must be conducted in a vacuum.Linear encoders, although somewhat less accurate than laser interferometers, are used in over 50% for ultraprecision positioning devices in Japan and their market share continues to grow, according to the 2006 TCUP poll. Analog sensor performance in detecting microscopic displacement is steadily improved. The technical level of precision positioning device is often assessed by how the designer considers Abbe's principle.(2) Mechanical Structure Overall structural rigidity should be maximized to ensure monolithic construction. Semiconductor aligners used in exposure are made from ceramics with a high specific rigidity, i.e., the quotient of Young's modulus divided by specific gravity.1990s arguments pitting linear actuators against ball screws subsided as their specific advantages and domains of preferred use became established. Linear guide ways using steel balls or rollers are becoming cheaper, and their accuracy and other aspects of performance are improving.When stage movement is reversed, friction generated by preloads as nonlinear spring behavior which is caused by elastic deformation of balls and race ways over the moving stroke of several tens of µm, stage vibration is easy to generate. Another disadvantage, called waving, occurs when the table moves up and down at the sub-µm level perpendicular to the stage travel direction at twice the spacing of the roller separation. It is found out that waving is minimized by crowning roller guide race way. Error due to waving is reduced to less than one tenth of the original error margin [4]. Nonlinear spring behavior is minimized by modifying control method of the positioning device. For longitudinal travel, pneumatic-hydrostatic devices virtually unaffected by friction are an alternative but are prohibitively expensive.(3) Control, Including Software In precision positioning, control devices and systems have advanced significantly in the last two decades [5], changing from analog to digital with higher sampling frequency. Current digital control enables devices to be operated in conceptually the same way as analog control. TCUP respondents [1] stated that 70% of positioning devices in Japan still depend on conventional control, PID control, with innovative contemporary control theory, fuzzy control, and neural nets, etc. yet to be fully implemented.2.2. Higher Positioning Speed Higher positioning speed is required, as well as higher positioning accuracy. In scanning Fig. 1(b), maximum stage speed exceeds 2 m/s second and maximum acceleration ranges from 3G to 5G. The corresponding speed and acceleration of the wafer stage is one fourth of these values. At such high acceleration, reaction dampers are used to prevent vibration [2].About ten years ago, the maximum velocities of positioning stages tended to be limited by the speed of the displacement sensor for feed-back, however at present, it is possible to operate at the range of speed mentioned above. Note that the velocity exceeding 2 m/s is possible even with ball-screw, but noise and microvibration remain a problem.3. Nanometer and Subnanometer Positioning [3, 5-7, 10] We are pursuing the convergence of the positioning resolution to the fullest extent of the resolution of the displacement sensor for the feed-back. Bulletins [3, 6] have carried reports on experiments attaining resolution for positioning with maximum error below 0.1 nm. We introduce cases of positioning device development at nm and sub-nm resolution using both ball screw [7] and linear motor drives [8]. I would like to introduce a commercialized ball screw drive production of 1 nm resolution [7].3.1. Combination of Ball-Screw and Stepping Motors [7] The positioning devices have the resolution respectively at 1 nm and 5 nm (the lengths of travelling strokes for the stage are 20 m and 50 mm respectively). Both compensate for the rolling frictions between the ball screw and the roller guide way and for the nonlinear spring behavior at the micro-displacement range through the control of the stepping motors at high, medium and low ranges of speeds. As the dimension of detector of the displacement sensor is very small, we can make the positioning devices smaller. So, it is very strong to external disturbances.3.2. New type of Linear Motor Drive [8] The latest new type of linear actuators, generally referred to as tunnel actuators (TAs) used in ultraprecision positioning devices with a stage stroke of 200 nm (Fig. 2) are free from magnetic attractive force between stator magnets and armatures, generating less heat and having other advantages over conventional linear motors with cores.In experiments using a displacement sensor to adjust feed-back with 0.034 nm resolution and a maximum velocity of 400 mm/s, we use ball guide ways to reduce cost and still achieved a positioning resolution of 0.2 nm (Fig. 3) [8]. Experiments confirmed that, to achieve more higher resolution, electric current linear amplifiers are 10 times more effective than PWM as the current amplifier.4. Conclusions We have discussed how nanometer- and sub-nm level positioning resolution and accuracy became possible, greatly contributing to advances in nanotechnology. Nanometer and subnanometer positioning resolution are currently verified by signals from displacement sensors for feed-back. Considering changes in the positioning of stages, however, such positioning and resolution should be verified by using displacement sensors which are more accurate.If possible, verification on the resolution and accuracy must be done using a laser interferometer in a vacuum in a temperature-controlled chamber. We feel that positioning resolution should be indicated by signals directly received from sensors without low pass filter.
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Kabei, N., E. Shimemura, Y. Sakurai, and K. Tsuchiya. "A Portable Pneumatic Driving Unit for a Left Ventricular Assist Device." International Journal of Artificial Organs 11, no. 3 (May 1988): 186–90. http://dx.doi.org/10.1177/039139888801100311.
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The authors developed a portable air driving unit for an artificial heart. As the portable energy source of the driver, a commercially available Ni-Cd battery was used. A linear compressor was selected as a portable size compressor. To reduce the number of parts to be assembled, a new type of pneumatic system was employed. In this system, the pressure level was regulated by varying the output flow rate of the compressor instead of using a pressure regulator and large air reservoirs. A one-board microcomputer and pressure sensors were used to control the pressure level. The total weight of the unit is 9.5 Kg. After assembling the components into the portable unit, a blood pump was connected to examine the output characteristics of the system. It was confirmed that the unit could drive the blood pump continuously for more than 2 hours under the following conditions: output flow rate of the blood pump = 5 L/min and output pressure — 100 mmHg.
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Schindele, D., and H. Aschemann. "Backstepping Control of a High-Speed Linear Axis Driven by Pneumatic Muscles." IFAC Proceedings Volumes 41, no. 2 (2008): 7684–89. http://dx.doi.org/10.3182/20080706-5-kr-1001.01299.
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Eguchi, Yuya, Tetsuya Akagi, Shujiro Dohta, and Wataru Kobayashi. "Improvement of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes." MATEC Web of Conferences 82 (2016): 01005. http://dx.doi.org/10.1051/matecconf/20168201005.
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O’Connell, Robert M., Henry Liu, and Charles W. Lenau. "Performance of Pneumatic Capsule Pipeline Freight Transport System Driven by Linear Motor." Journal of Transportation Engineering 134, no. 1 (January 2008): 50–58. http://dx.doi.org/10.1061/(asce)0733-947x(2008)134:1(50).
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Bogdevičius, Marijonas, Arvydas Matuliauskas, Vygantas Mištinas, Bronislovas Spruogis, and Vladimiras Suslavičius. "DYNAMICS OF PNEUMATIC AND HYDRAULIC TRANSPORT TECHNOLOGICAL EQUIPMENT." TRANSPORT 19, no. 1 (February 28, 2004): 37–42. http://dx.doi.org/10.3846/16484142.2004.9637951.
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In the article the classification of inpipe robots is presented, their advantages and imperfections are reviewed. The schemes of the construction of the wall press walking inpipe robot with a pneumatic drive and an inpipe robot with a vibratory pneumatic drive are given. The analysis of the identification method of leaks occurring due to damages of the linear part of the main oil pipelines is carried out. The momentum and continuity equations of viscous compressible fluid in a pressure pipeline are presented. Differential equations of fluid movement in the oil pipeline are solved by the method of characteristics. Variation diagrams of pressure and velocity of fluid in a leaking oil pipeline are presented. The impulsive extinguishing systems are presented.
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Tuleja, Peter, and Michal Demko. "ANALYSIS OF THE ASPECTS THAT DETERMINE THE SELECTION OF THE DRIVE SYSTEM FOR A VEHICLE DRIVEN BY COMPRESSED AIR." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 101–8. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-101-108.
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Urgency of the research. Activities in the field of compressed air drive unit design are the subject of research into alternative energies for automotive drive. The competition mentioned in this article is intended to stimulate universities and high school students to make material outcomes in this area of research. These activities bring new, sometimes unconventional solutions to problems that can potentially bring about solutions applicable in technical practice. Target setting. The aim of this article was to map out possible ways of realizing a drive unit of a vehicle that is driven by compressed air. Based on an analysis of the most commonly used ways of solving this problem, the article indicates the direction of development of such a drive unit. Actual scientific researches and issues analysis. Research in this area consists in designing a drive unit that would allow dynamic driving at low compressed air consumption. This requires the perfect mastering of the theoretical knowledge about recirculation in compressed gas as well as the optimization of the power parameters of the unit by appropriate design of the basic construction component - linear pneumatic drive. Uninvestigated parts of general matters defining. Only one group of transformation mechanisms is analyzed in the article that allow the compressed air drive unit to be constructed. The research objective. The aim of the research is to provide a theoretical and mathematical basis for determining the optimum parameters of a compressed air propelled vehicle unit as well as its application for the construction of new vehicles for competition. The statement of basic materials. The basic material for the creation of the article was taken from the bachelor thesis of the co-author of the article [3], from the contest proposals and other sources available in the library and magazine materials as well as from the prepared study materials for the students of the Technical University of Kosice, Slovakia. Conclusions. Conclusions of the article lead to the determination of the appropriate concept of transformation of linear motion of the pneumatic drive to rotational in order to achieve the best results in the next year of the International Aventics Pneumobile Competition.
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Xu, Haiming, Yong Li, and Lanzhu Zhang. "A New Control Method for Backlash Error Elimination of Pneumatic Control Valve." Processes 9, no. 8 (August 6, 2021): 1378. http://dx.doi.org/10.3390/pr9081378.
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Backlash is a commonly non-linear phenomenon, which can directly degrade the control accuracy of a pneumatic control valve. To explain the cause and law of backlash error, and to propose an effective method, many research works on the modeling of a pneumatic control valve system have been carried out. The currently model of a control valve system can be classified as a physical model, data-driven model, and semi-physical model. However, most models only consider the force-displacement conversion process of a pneumatic diagram actuator in a pneumatic control valve system. A physical model based on the whole workflow of the pneumatic control valve system is established and a control method to eliminate the backlash error is proposed in this paper. Firstly, the physical model of the pneumatic control valve system is established, which is composed of three parts: pneumatic diaphragm actuator model, nozzle-flapper structure model and electromagnetic model. After that, the input–output relationship of the pneumatic control valve system can be calculated according to the established physical model, and the calculation results are consistent with the experimental result. Lastly, a self-calibration PID (SC-PID) control method is proposed for backlash error elimination. The proposed method can solve valve stem oscillation caused by backlash during valve control.
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Tsai, Tsung-Chin, and Mao-Hsiung Chiang. "Design and Control of a 1-DOF Robotic Lower-Limb System Driven by Novel Single Pneumatic Artificial Muscle." Applied Sciences 10, no. 1 (December 19, 2019): 43. http://dx.doi.org/10.3390/app10010043.
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This study determines the practicality and feasibility of the application of pneumatic artificial muscles (PAMs) in a pneumatic therapy robotic system. The novel mechanism consists of a single actuated pneumatic artificial muscle (single-PAM) robotic lower limb that is driven by only one PAM combined with a torsion spring. Unlike most of previous studies, which used dual-actuated pneumatic artificial muscles (dual-PAMs) to drive joints, this design aims to develop a novel single-PAM for a one degree-of-freedom (1-DOF) robotic lower-limb system with the advantage of a mechanism for developing a multi-axial therapy robotic system. The lower limb robotic assisting system uses the stretching/contraction characteristics of a single-PAM and the torsion spring designed by the mechanism to realize joint position control. The joint is driven by a single-PAM controlled by a proportional pressure valve, a designed 1-DOF lower-limb robotic system, and an experimental prototype system similar to human lower limbs are established. However, the non-linear behavior, high hysteresis, low damping and time-variant characteristics for a PAM with a torsion spring still limits its controllability. In order to control the system, a fuzzy sliding mode controller (FSMC) is used to control the path tracking for the PAM for the first time. This control method prevents approximation errors, disturbances, un-modeled dynamics and ensures positioning performance for the whole system. Consequently, from the various experimental results, the control response designed by the joint torsion spring mechanism can also obtain the control response like the design of the double-PAMs mechanism, which proves that the innovative single-PAM with torsion spring mechanism design in this study can reduce the size of the overall aid mechanism and reduce the manufacturing cost, can also improve the portability and convenience required for the wearable accessory, and is more suitable for the portable rehabilitation aid system architecture.
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Song, Qiang, Guang Ju Si, Dong Ning Su, and Kang Min Zhong. "Green Manufacturing: A Lever-Wedge Self-Locking Force Amplifying Clamping Device Driven by Linear Motor." Applied Mechanics and Materials 44-47 (December 2010): 522–26. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.522.
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Here introduces a kind of clamping device which is driven by linear motor and makes use of lever-wedge serial mechanism to amplify input force and to realize self-locking. We analyze its working principle and structure feature, give the calculation formulas of force amplification coefficient and output force. Compared with hydraulic clamping device or pneumatic clamping device, this kind of clamping device has the advantages: few conversion segments, no energy consumed during machining and no environment pollution.
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PASHKOV, E. V., V. P. POLIVTSEV, and V. V. POLIVTSEV. "AUTOMATIC DEVICE FOR CARDIAC-PULMONARY REANIMATION ON THE BASIS OF LINEAR PNEUMATIC DRIVE." Fundamental and Applied Problems of Engineering and Technology 4, no. 1 (2020): 74–79. http://dx.doi.org/10.33979/2073-7408-2020-342-4-1-74-79.
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The results of the analysis of the designs and functional capabilities of a number of devices for cardiopulmonary resuscitation by well-known manufacturers of medical equipment are presented, the basic schemes of force action on the chest are considered, the disadvantages that narrow the functionality and reliability of the devices are identified. A description is given of the design and principle of operation of an original automatic device for cardiopulmonary resuscitation based on a linear pneumatic drive with a tape chest bandage and with varying parameters of force exposure, depending on the size of the chest.
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Eguchi, Yuya, Tetsuya Akagi, and Shujiro Dohta. "Preliminary Design of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes." MATEC Web of Conferences 51 (2016): 02004. http://dx.doi.org/10.1051/matecconf/20165102004.
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Mueller, M. A., and N. J. Baker. "Direct drive electrical power take-off for offshore marine energy converters." Proceedings of the Institution of Mechanical Engineers, Part A: Journal of Power and Energy 219, no. 3 (May 1, 2005): 223–34. http://dx.doi.org/10.1243/095765005x7574.
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This paper investigates the issues associated with converting the energy produced by marine renewable energy converters, namely wave and tidal stream devices, into electricity using direct drive electrical power take-off, without use of complex pneumatic, hydraulic or other mechanical linkages. In order to demonstrate the issues, two alternative topologies of linear electrical machines are investigated: the linear vernier hybrid permanent magnet machine and the air-cored tubular permanent magnet machine. The electrical characteristics of these machines are described and compared in the context of mechanical integration. Potential solutions to the issues of sealing, corrosion and lubrication are discussed taking into account the electrical properties of the two topologies.
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Paula, Greg. "Linear Motors Take Center Stage." Mechanical Engineering 120, no. 03 (March 1, 1998): 92–93. http://dx.doi.org/10.1115/1.1998-mar-5.
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Linear motors offer significant advantages over ball screws and rack-and-pinion systems as they can produce high forces without sacrificing speed or precision. Driven by electricity, linear motors provide direct linear motion without the potential complications associated with pneumatic and hydraulic systems, and without mechanical linkages such as ball screws or rack-and-pinion systems. Linear motors are potentially effective in any application requiring linear motion, and some uses can derive a great many benefits from the technology. Linear motors cost more than their traditional counterparts; however, the price has decreased significantly in recent years because of increases in the volume sold. Also, manufacturers have begun to invest more heavily in tooling and equipment geared specifically for the manufacture of linear motors. As acceptance of linear motors has increased, so has the number of competitors; one expert estimated that the number of manufacturers has gone from four to 30 in the past four years.
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Aschemann, H., and D. Schindele. "Sliding-Mode Control of a High-Speed Linear Axis Driven by Pneumatic Muscle Actuators." IEEE Transactions on Industrial Electronics 55, no. 11 (November 2008): 3855–64. http://dx.doi.org/10.1109/tie.2008.2003202.
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Barbu, Anca Giorgiana, and Marian Gheorghe. "Development of the Car Seat through a Wider Range of Active Elements Implementation." Advanced Engineering Forum 42 (September 7, 2021): 113–21. http://dx.doi.org/10.4028/www.scientific.net/aef.42.113.
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Car seats represent a constructive - functional system including a variety of elements, assembled on a specific frame, among those the main components are the seat pan, the seat backrest, and the seat headrest. In order to improve the comfort of the driver and passengers, as well vehicle general safety, the car seats are under of intensive research and implementation of advanced developments.Thus, through of variety of sensors integrated into the seat, some important parameters are analysed for keeping the drivers alert and comfortable while driving semi-autonomous or autonomous cars. For adjustment of the seat linear and angular positions, a special system has been implemented, comprising electric, electronic, and pneumatic elements. Also, seat micro-adjustments are possible through the action of specific actuators. The car seat design and manufacture take into consideration a diverse array of data, based on a large range of parameters to face the diversity of drivers requirements. The present paper is advancing a conceptual development of car complex seat, integrating a number of active elements, with multiple possible adjustments. The new seat model is designed to satisfy a larger diversity of people both in terms of comfort and safety.
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Burgess, Stuart C., Torquil Pyper, and Chung Seng Ling. "A linear actuated chain test rig capable of accelerated test speeds and continuous wear measurements." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 5 (June 22, 2012): 1047–55. http://dx.doi.org/10.1177/0954406212451546.
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This article presents a novel linear actuated chain test rig, which is capable of accelerated test speeds and continuous wear measurements. The ability to measure chain wear in situ saves time and expense compared to a conventional sprocket driven rig because the traditional rig requires the chain to be dismantled in order to monitor wear. In situ chain measurement reduces errors significantly. The novel test rig does not have a traditional set up of rotary driven sprocket and chain but uses a pneumatic linear actuator to articulate a short section of chain, which is preloaded between two cantilevers. This design leads to a compact rig with only few moving parts and allows accelerated testing at high frequencies. Linear encoder displacement transducers are used to measure changes in chain length down to 0.06 µm at a rate of 4000 readings per second. Sample wear tests on different chains have been conducted to compare life test results with conventional sprocket-driven tests rig. A good correlation was obtained between the steady-state wear rate for three different brands of roller chain.
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Zhao, Mei Ning, Fang Wang, and Miao Xin Dong. "Research on the Servo Position Control System of the Carrying Manipulator Based on Pneumatic Drive." Advanced Materials Research 462 (February 2012): 748–52. http://dx.doi.org/10.4028/www.scientific.net/amr.462.748.
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Ammunition fuse shell is carried rapidly by the carrying manipulator from heating furnace to molding machine, so manipulator need accurate repeated position. The servo position control system is established to meet manipulator multi-point and flexible location based on pneumatic driving system. Linear mathematical model of the servo position control system is built based proper assumption, and model was used to analyze control system theoretically. The carrying manipulator can satisfy demands including decided order and positions; the control character is good by debugging.
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Li, I.-Hsum, Hsin-Han Chiang, and Lian-Wang Lee. "Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking." Applied Sciences 10, no. 10 (May 20, 2020): 3526. http://dx.doi.org/10.3390/app10103526.
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This paper focuses on developing a pneumatic-driven and horizontal-structure linear delta robot (PH-LDR) and increasing its trajectory tracking performance on the three-degrees-of-freedom (3-DOF) space. With the investigation of inverse and forward kinematics, the parallel mechanism of PH-LDR is designed by using three high-power and low-cost rod-less pneumatic actuators (PAs) to track 3-DOF motion, and this has a horizontal structure to enlarge the workspace. Since the PH-LDR features nonlinear coupling among its three axes and is disturbed by the three high-nonlinear rod-less PAs, the tracking control performance is significantly decreased, subject to uncertain nonlinearity and parametric uncertainty. Therefore, a fuzzy-PID controller is used to achieve highly accurate 3-DOF trajectory tracking, and furthermore, this study exploits neural networks (NNs) to pre-compensate the impacts arising from the compressibility of air and temperature change. The control system for the PH-LDR also features an embedded controller that allows real-time control. Experimental demonstration verifies the developed PH-LDR with the proposed controller, and the dynamic tracking accuracy in 3-DOF trajectory can be achieved.
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Chang, Ming-Kun. "Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory." Scientific World Journal 2014 (2014): 1–12. http://dx.doi.org/10.1155/2014/464276.
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It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs) because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems. The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs) in order to determine controller gains based on the Lyapunov direct method. Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine. Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.
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Sharp, R. S., and J. H. Hassan. "Performance Predictions for a Pneumatic Active Car Suspension System." Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering 202, no. 4 (October 1988): 243–50. http://dx.doi.org/10.1243/pime_proc_1988_202_181_02.
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A mathematical model of a pneumatic active car suspension system in a single wheel station form excited by realistic road roughness input is set up. The active control is exerted through a d.c. motor-driven air-pump. The model is used to show that essentially all the advantages of active control, within the terms of reference, are obtained by employing the control only at low frequencies and having the suspension parameters adapt to the running conditions as they vary. Control laws are derived using limited state feedback, linear stochastic optimal control theory and power consumption, and space requirements are evaluated. System performance is shown to be good in comparison with other known arrangements and encouragement for further work to extend the results is given.
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Figliolini, Giorgio, and Massimo Sorli. "Open-loop Force Control of A Three-finger Gripper Through PWM Modulated Pneumatic Digital Valves." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 480–93. http://dx.doi.org/10.20965/jrm.2000.p0480.
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This paper proposes an open-loop force control system for a three-finger gripper using small digital solenoid valves modulated using PWM (Pulse-Width-Modulation) technique. These valves are good candidates for this robotic application because of their small dimensions, low weight and cost, simple structure and easy operation by means of on/off signals. A linear model for pressure control in the pneumatic actuator's thrust chamber was developed and tested experimentally. A large dead-band was introduced in the PWM driver in order to investigate a suitable method for its correction. Good results were obtained by correcting the static characteristic curve of the three-way equivalent valve that controls the flow rate exchanged with the pneumatic cylinder thrust chamber. These results can be applied to similar solutions with larger digital valves. Gripping mechanism efficiency and the effects of friction forces were taken into account in developing the force control.
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Timashev, Eduard. "Method of calculating pneumatic compensators for plunger pumps with submersible drive." Journal of Mining Institute 245 (December 2, 2020): 582–90. http://dx.doi.org/10.31897/pmi.2020.5.10.
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One of the most promising ways to improve the efficiency of mechanized oil production is a plunger pump with a submersible drive, which allows obtaining harmonic reciprocating movement of the plunger. In the pumping process of well products by plunger pumps, oscillations in the velocity and pressure of the liquid in the lifting pipes occur, which lead to an increase in cyclic variable loads on the plunger, a decrease in the drive life period and the efficiency of the pumping unit.
To eliminate the pulsation characteristics of the plunger pump and increase the reliability indicators of the pumping unit (in particular, the overhaul period), pneumatic compensators can be used. A method for calculating the optimal technological parameters of a system of deep pneumatic compensators for plunger pumping units with a submersible drive, based on mathematical modeling of hydrodynamic processes in pipes, has been developed.
Calculations of the forming flow velocity and pressure in the lifting pipes of submersible plunger units equipped with pneumatic compensators (PC) have been carried out. Influence of the PC technological parameters on the efficiency of smoothing the oscillations of velocity and pressure in the pipes has been analyzed. Non-linear influence of the charging pressure and PC total volume on the efficiency of their work has been established. Optimal pressure of PC charging, corresponding to the minimum pressure in the tubing during the pumping cycle for the considered section of the tubing, is substantiated.
Two ultimate options of PC system placement along the lifting pipes are considered. In the first option, PC are placed sequentially directly at the outlet of the plunger pump, in the second - evenly along the lift. It is shown that the first option provides the minimum amplitude of pressure oscillations at the lower end of the tubing and, accordingly, variable loads on the pump plunger. Nature of the pressure and flow velocity oscillations in the tubing at the wellhead for both options of PC placement has similar values.
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Pandian, Shunmugham R., Yasuhiro Hayakawa, Yoshinori Kanazawa, Yoshiyuki Kamoyama, and Sadao Kawamura. "Practical Design of a Sliding Mode Controller for Pneumatic Actuators." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (December 1, 1997): 666–74. http://dx.doi.org/10.1115/1.2802376.
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Pneumatic robot manipulators are characterized by high-order, time-variant actuator dynamics, nonlinearities due to compressibility of air, external disturbances such as static and Coulomb friction, and wide range of payload variations. Conventional PID controllers suffer from problems of gain tuning under these conditions. In this paper, a new control algorithm is proposed for the position and trajectory control of pneumatic actuators based on the sliding mode control approach. The stability of motion is proved for the case of a linear, time-invariant switching surface. A disadvantage of using sliding mode control for third- and higher-order mechanical systems is the need for acceleration feedback. In this paper, to overcome this difficulty we propose the use of differential pressure. The proposed controller is simple, easy to implement, and robust to payload and parametric variations. The effectiveness of the new scheme for position and trajectory control is illustrated by experiments on an industrial piston-driven cylindrical actuator with proportional valves.
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Yu, Meng, Weimin Yang, Yuan Yu, Xiang Cheng, and Zhiwei Jiao. "A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori." Actuators 9, no. 2 (April 9, 2020): 26. http://dx.doi.org/10.3390/act9020026.
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Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform different movements. The PFA inspired from Miura-ori is composed of a folding part, transition part, and sealing part, made by flexible materials and a paper skeleton. This actuator can obtain a large deformation by folding under negative pressure due to its own characteristics, and the relationship between deformation and pressure is analyzed. According to the different folding and unfolding times of left and right actuators, the crawling robot can perform both linear and turning movements. The speed of the robot is about 5 mm/s and it can turn at a speed of about 15°/s. The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks.
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Shimooka, S., T. Akagi, S. Dohta, T. Shinohara, and M. Aliff. "Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and Its Application for Rehabilitation Device." International Journal of Automotive and Mechanical Engineering 17, no. 3 (October 6, 2020): 8116–27. http://dx.doi.org/10.15282/ijame.17.3.2020.05.0609.
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Based on super-aging society in Japan, a welfare pneumatic device to give passive exercise for the temporally injured elderly and disabled has been actively researched and developed. In previous study, based on opinions of Physical Therapist (PT) and Occupational Therapist (OT), a home-based rehabilitation device that could give passive exercise for patients using extension type flexible pneumatic actuators (EFPA), built-in quasi-servo valves and built-in displacement sensors using a wire type linear potentiometer was proposed and tested. However, the device did not have enough force and stiffness to drive shoulders with both arms. In this study, to get enough generated force and stiffness of the device, a parallel arranged EFPA reinforced with circumferential restraint was proposed and tested. The rehabilitation device for shoulder joint using the improved actuator was also proposed and tested. The built-in attitude control system using valves, sensors and an embedded controller was also developed. As a result, it can be confirmed that the device can give passive exercise with larger moving area and enough force and torque to move patient’s shoulder joint.
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Hoffs, A., A. Bo¨lcs, and S. P. Harasgama. "Transient Heat Transfer Experiments in a Linear Cascade Via an Insertion Mechanism Using the Liquid Crystal Technique." Journal of Turbomachinery 119, no. 1 (January 1, 1997): 9–13. http://dx.doi.org/10.1115/1.2841016.
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An insertion mechanism for a linear cascade allowing the displacement of one measurement airfoil to conduct transient heat transfer experiments is introduced. A basic feature of the system is its capability to work in a continuously running tunnel driven by a compressor at steady-state conditions. The experiment is initiated by pulling the measurement airfoil very rapidly through the sidewalls of the cascade by means of a pneumatic cylinder. Heat transfer measurements were obtained on a turbine airfoil at different exit Mach numbers up to M = 0.8 and exit Reynolds numbers up to Re = 1.2E6. The transient liquid crystal method was used applying a digital image processing system capable of recording and storing the optical signal in real time. Comparisons were performed with measurements conducted in the same test facility using the naphthalene sublimation technique as well as thin film gages. Calculations were made with a two-dimensional boundary layer code.
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Higueras-Ruiz, Diego R., Michael W. Shafer, and Heidi P. Feigenbaum. "Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes." Science Robotics 6, no. 53 (April 21, 2021): eabd5383. http://dx.doi.org/10.1126/scirobotics.abd5383.
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Compliant, biomimetic actuation technologies that are both efficient and powerful are necessary for robotic systems that may one day interact, augment, and potentially integrate with humans. To this end, we introduce a fluid-driven muscle-like actuator fabricated from inexpensive polymer tubes. The actuation results from a specific processing of the tubes. First, the tubes are drawn, which enhances the anisotropy in their microstructure. Then, the tubes are twisted, and these twisted tubes can be used as a torsional actuator. Last, the twisted tubes are helically coiled into linear actuators. We call these linear actuators cavatappi artificial muscles based on their resemblance to the Italian pasta. After drawing and twisting, hydraulic or pneumatic pressure applied inside the tube results in localized untwisting of the helical microstructure. This untwisting manifests as a contraction of the helical pitch for the coiled configuration. Given the hydraulic or pneumatic activation source, these devices have the potential to substantially outperform similar thermally activated actuation technologies regarding actuation bandwidth, efficiency, modeling and controllability, and practical implementation. In this work, we show that cavatappi contracts more than 50% of its initial length and exhibits mechanical contractile efficiencies near 45%. We also demonstrate that cavatappi artificial muscles can exhibit a maximum specific work and power of 0.38 kilojoules per kilogram and 1.42 kilowatts per kilogram, respectively. Continued development of this technology will likely lead to even higher performance in the future.
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Ahmed, Yahya, Auns Al-Neami, and Saleem Lateef. "Robotic Glove for Rehabilitation Purpose: Review." 3D SCEEER Conference sceeer, no. 3d (July 1, 2020): 86–92. http://dx.doi.org/10.37917/ijeee.sceeer.3rd.12.
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Rehabilitation robots have become one of the main technical instruments that Treat disorder patients in the biomedical engineering field. The robotic glove for the rehabilitation is basically made of specialized materials which can be designed to help the post-stroke patients. In this paper, a review of the different types of robotic glove for Rehabilitation have been discussed and summarized. This study reviews a different mechanical system of robotic gloves in previous years. The selected studies have been classified into four types according to the Mechanical Design: The first type is a tendon-driven robotic glove. The second type of robotic glove works with a soft actuator as a pneumatic which is operated by air pressure that passes through a plastic pipe, pressure valves, and air compressor. The third type is the exoskeleton robotic gloves this type consists of a wearable mechanical design that can used a finger-based sensor to measure grip strength or is used in interactive video applications. And the fourth type is the robotic glove with a liner actuator this type consists of a tape placed on the fingers and connected to linear actuators to open and close the fingers during the rehabilitation process.
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Shi, Nan, and Christopher J. Easley. "Programmable µChopper Device with On-Chip Droplet Mergers for Continuous Assay Calibration." Micromachines 11, no. 6 (June 25, 2020): 620. http://dx.doi.org/10.3390/mi11060620.
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While droplet-based microfluidics is a powerful technique with transformative applications, most devices are passively operated and thus have limited real-time control over droplet contents. In this report, an automated droplet-based microfluidic device with pneumatic pumps and salt water electrodes was developed to generate and coalesce up to six aqueous-in-oil droplets (2.77 nL each). Custom control software combined six droplets drawn from any of four inlet reservoirs. Using our μChopper method for lock-in fluorescence detection, we first accomplished continuous linear calibration and quantified an unknown sample. Analyte-independent signal drifts and even an abrupt decrease in excitation light intensity were corrected in real-time. The system was then validated with homogeneous insulin immunoassays that showed a nonlinear response. On-chip droplet merging with antibody-oligonucleotide (Ab-oligo) probes, insulin standards, and buffer permitted the real-time calibration and correction of large signal drifts. Full calibrations (LODconc = 2 ng mL−1 = 300 pM; LODamt = 5 amol) required <1 min with merely 13.85 nL of Ab-oligo reagents, giving cost-savings 160-fold over the standard well-plate format while also automating the workflow. This proof-of-concept device—effectively a microfluidic digital-to-analog converter—is readily scalable to more droplets, and it is well-suited for the real-time automation of bioassays that call for expensive reagents.
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Kotwica, Krzysztof, Hubert Suffner, and Andrei Andras. "Trenchless Execution of Microtunnels for Municipal Infrastructure in Urbanized Site – Conception of a New Solution." Management Systems in Production Engineering 28, no. 4 (December 1, 2020): 276–82. http://dx.doi.org/10.2478/mspe-2020-0039.
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AbstractThe technologies for trenchless execution of mini and microtunnels for an installation of municipal infrastructure in urbanized sites, used at present, are described in the article. The emphasis is laid on uncontrolled methods, in the case of the diameters of installations which do not exceed 200-250 mm and their length not bigger than 30-40 m. Some issues connected with making the installations of this type, using conventional methods, are also presented. A conception of equipment (ground rocket) for an trenchless execution of short-distance microtunnels of the diameter up to 200 mm and the length up to 30 m with an innovative electric drive, developed at the Department of Machinery Engineering and Transport of the AGH in Cracow as an alternative for the solutions applied nowadays, is described. An electric linear motor, whose conception is presented in the article, was installed in the head of the device. The goal of these works was possibility of using new solution of ground rocket without additional equipments for pneumatic supply with compressed air. New concept of proposed ground rocket can be used with feeding directly from the domestic electric network. The device is intended for execution of installation in incoherent and low-compact ground.
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Ibragimov, A. A., A. К. Karakhanov, A. A. Abdurakhmanov, A. Е. Eshdavlatov, P. A. Uteniyazov, and A. A. Khadzhiev. "Research Results for a New Onion Seed Drill." Agricultural Machinery and Technologies 14, no. 4 (December 18, 2020): 12–16. http://dx.doi.org/10.22314/2073-7599-2020-14-4-12-16.
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. For sowing small seeds of vegetables, in particular onions, special seeders are used. They are not produced in the Republic of Uzbekistan, while many diff erent pneumatic seeders are produced abroad. The authors note that foreign samples are complex in design, not adapted to local soil and climatic conditions, cannot provide even seed placement on ridges, and the cost of the seeders themselves and service are very high.(Research purpose) To develop a vegetable seeder in relation to the soil and climatic conditions of Uzbekistan, to determine the seeding rate of onion seeds depending on the length of the active part of the seed reel, to evaluate the formation quality of sowing ridges and irrigation furrows.(Materials and methods) The authors determined the sowing rate by turning the seeder drive wheel at a given length of the active part of the sowing reel and collecting the sown seeds in cups with further weighing. The quality of sowing ridges and irrigation furrows formation was evaluated by the method of profi ling the fi eld before and after the seeder’s pass.(Results and discussion) The authors developed a vegetable seeder that performed three operations in one pass: cutting irrigation furrows, forming sowing ridges of a trapezoidal shape and sowing onion seeds and other small-seeded vegetable crops in a three-row tape method in each tape. They found that the dependence of the seeding rate on the length of the active part of the reel had a slightly fragile parabolic shape, and the required seeding rates – 24-48 pieces per linear meter (3.9-7.8 kilograms per hectare) – were provided with the length of the sowing reel 3.3- 6.2 millimeters. It was proved that the seeder provided a high-quality formation of sowing ridges and irrigation furrows: the row spacing was 68.8 centimeters (installation spacing – 70 centimeters), the top ridge width was 42.5 centimeters (the predetermined one was 40 centimeters), the depth of irrigation furrows was on average 9.6 centimeters.(Conclusions) A vegetable seeder was developed for sowing small-seeded vegetable crops with the simultaneous formation of sowing ridges and cutting irrigation furrows, which ensured high-quality performance of all operations and observance of onion seeds.
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Göttert, Manfred, and Rüdiger Neumann. "Bahnregelung servopneumatischer Antriebe – ein Vergleich von linearen und nichtlinearen Reglern (Continuous Path Control of Servo Pneumatic Drives – a Comparison of Linear and Non Linear Controllers)." at – Automatisierungstechnik 55, no. 2 (January 2007). http://dx.doi.org/10.1524/auto.2007.55.2.69.
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Kamiński, Zbigniew. "Mathematical Modeling of Pneumatic Pipes in a Simulation of Heterogeneous Engineering Systems." Journal of Fluids Engineering 133, no. 12 (December 1, 2011). http://dx.doi.org/10.1115/1.4005261.
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Pipes are widely used in hydraulic and pneumatic subsystems for transferring energy or signals. Accurate prediction of pressure transients is very important in the drive and control circuits of complex fluid-line systems. Based on the approximation of Navier-Stokes equations for one-dimensional flow, a mathematical model of the pneumatic pipe with lumped parameters was developed using ordinary differential equations, which can be easily implemented in most computer programs for the simulation of complex heterogeneous engineering systems. Implemented in Matlab-Simulink software, the computer model of the pipe makes it possible to determine the influence of capacitance, inertance, resistance and heat exchange on the dynamic characteristics of the control and power circuits of pneumatic systems. An advantage of the model is that various functions can be selected to describe linear resistances and local resistances are taken into account, particularly at the inlet and outlet. Such resistances largely affect flow resistances in short tubes (up to 10 m) that can be found, e.g., in pneumatic brake systems of road vehicles. Confirmed by Kolmogorov-Smirnov test results, the consistency of the pressure curves obtained in experimental and simulation tests proves the implemented tube model to be useful for the calculations of pneumatic system dynamics.
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TÓTH, János, and Xénia Erzsébet TÓTH. "HOW TO CONTROL A PNEUMATICAL AND AN ELECTRICAL DRIVEN LINEAR AXIS." ANNALS OF THE ORADEA UNIVERSITY. Fascicle of Management and Technological Engineering. XXIV (XIV), 2015/1, no. 1 (2015). http://dx.doi.org/10.15660/auofmte.2015-1.13120.
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TÓTH, János, and Xénia Erzsébet TÓTH. "HOW TO CONTROL A PNEUMATICAL AND AN ELECTRICAL DRIVEN LINEAR AXIS." ANNALS OF THE ORADEA UNIVERSITY. Fascicle of Management and Technological Engineering. XXIV (XIV), 2015/1, no. 1 (2015). http://dx.doi.org/10.15660/auofmte.2015-1.3120.
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