An inertia electromagnetic actuator capable of adjusting natural frequency is designed in this paper. There are two procedures in the design of electromagnetic actuator: magnetic circuit design and stiffness conditioning design. ANSOFT software is used to simulate the magnetic circuit during the magnetic circuit design and optimize the design of the actuator. In order to adjust the natural freq...

Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator system. We analyze its performance thro...

This article presents passive impedance control of flexible joint robots (FJRs) via inner-loop torque elastic joints. However, according to our theoretical analysis, the methods series actuators (SEAs) are often limited by fact that acceleration signals amplified gains. Since affected differentiation noise, analysis may become invalid in practice. To alleviate this limitation, we propose use so...

A trench isolation technology employs trenches refilled with dielectric material to create, in a single layer, electrical isolation between mechanically joined components. This paper explores further use of this technology for MEMS fabrication, particularly the fabrication of electrostatic microactuators. Adding extra features to a two-mask trench isolation process new design opportunities, lik...

Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluation in numeri...

A new concept for obtaining large-amplitude rotary displacements from small linear displacements generated by induced-strain active material stacks is considered. The concept utilizes the theory of twist-warping coupling in thin-wall open tubes. A large-displacement induced-strain rotary actuator, LARIS Mk 2, was built and tested under static and dynamic conditions. A rotary displacement of 6 w...

We propose a new granular crystal sensor and actuator suite based on highly nonlinear solitary waves to offer a compact, inexpensive, and reliable diagnostic instrument for biomedical applications. A granular crystal sensor/actuator composed of tightly packed elastic particles is assembled to generate and retain self-reinforcing, nondispersive diagnostic solitary waves. Via direct contact, this...

This paper proposes a design of SMA-based bionic suction cup actuator, the core of which is that the bias spring cooperates with the SMA spring to produce a displacement at the varying temperature caused by the drive current. To characterize the dynamic drive performance of the actuator, the thermody‐ namic model is established by the constitutive model of SMA material of Tanaka series. The sim...