This paper presents a framework for the design of a compliant system; that is, the concurrent design of a compliant mechanism with embedded actuators and embedded sensors. It has been focused on methods that simultaneously synthesize optimal structural topology and placement of actuators and sensors for maximum energy efficiency and adaptive performance, while satisfying various weight and performance constraints. The goal of this research is to lay a scientific foundation and a mathematical framework for distributed actuation and sensing within a compliant active structure. Key features of the methodology include (1) the simultaneous optimization of the location, orientation, and size of actuators concurrent with the compliant transmission topology and (2) the concepts of controllability and observability that arise from the consideration of control, and their implementation in compliant systems design. The methods used include genetic algorithms, graph searches for connectivity, and multiple load cases implemented with linear finite element analysis. Actuators, modeled as both force generators and structural compliant elements, are included as topology variables in the optimization. Results are provided for several studies, including: (1) concurrent actuator placement and topology design for a compliant amplifier and (2) a shape-morphing aircraft wing demonstration with three controlled output nodes. Central to this method is the concept of structural orthogonality, which refers to the unique system response for each actuator it contains. Finally, the results from the controllability problem are used to motivate and describe the analogous extension to observability for sensing.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Synthesis of adaptive and controllable compliant systems with embedded actuators and sensors


    Additional title:

    Synthese von adaptiven und regelbaren, nachgiebigen Systemen mit eingebetteten Aktoren und Sensoren


    Contributors:


    Publication date :

    2006


    Size :

    13 Seiten, 16 Bilder, 26 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    The New Generation of Compliant Actuators for Use in Controllable Bio-Inspired Wearable Robots

    Bacek, T. / Moltedo, M. / Gonzalez-Vargas, J. et al. | Springer Verlag | 2016


    Lightweight Exoskeletons with Controllable Actuators

    Bar-Cohen, Yoseph / Mavrodis, Constantinos / Melli-Huber, Juan et al. | NTRS | 2004


    Compliant Tactile Sensors

    Online Contents | 2011