Meso- to Micro- Actuators A Theoretical and Practical Approach

418 Pages·2008·8.15 MB·English

by  Alberto Borboni

MESO- TO MICRO-
ACTUATORS
A Theoretical and Practical Approach

MESO- TO MICRO-
ACTUATORS
A Theoretical and Practical Approach
ALBERTO BORBONI
Boca Raton London New York
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Library of Congress Cataloging-in-Publication Data
Borboni, Alberto.
Meso- and micro-actuators : a theoretical and practical approach / Alberto
Borboni.
p. cm.
Includes bibliographical references and index.
ISBN-13: 978-0-8493-9089-0 (alk. paper)
ISBN-10: 0-8493-9089-3 (alk. paper)
1. Actuators. I. Title.
TJ223.A25B87 2008
621--dc22 2007047565
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This work is dedicated particularly to those who are subject to abuses,
tortures, and homicide as a result of their opinions, and to those
who research the truth. Hence, I want to mention here my principal
fellows in this latter, fundamental activity: my colleagues, my
friends, my family, my wife Scilla, and my son Allesandro.

Contents
Preface ..........................................................................................................xi
Acknowledgments ....................................................................................xiii
Author .........................................................................................................xv
1 General Knowledge ............................................................................1
1.1 Context ....................................................................................................2
1.1.1 Geometrical Domain .................................................................2
1.1.2 Method of Observation .............................................................8
1.2 Kinematics ............................................................................................10
1.2.1 Particle Kinematics ..................................................................10
1.2.2 Kinematics of a Rigid Body....................................................12
1.2.3 Kinematics of a Flexible Beam ...............................................18
1.2.4 Kinematics of a Continuum Body .........................................20
1.2.5 Kinematics with Theoretical Constraints ............................29
1.2.6 Kinematics with Compliant Constraints .............................47
1.3 Dynamics .............................................................................................70
1.3.1 Particle Dynamics ...................................................................70
1.3.2 Dynamics of a Rigid Body .....................................................71
1.3.3 Dynamics of a Continuum Body ...........................................75
1.3.4 Dynamics of a Flexible Beam.................................................79
1.3.5 Dynamics with Compliant Constraints ...............................86
1.4 Fundamental Notions of Interacting Fields ....................................98
1.4.1 Electromagnetic Fields ............................................................98
1.4.2 Piezoelectric Materials ............................................................99
1.4.3 Shape Memory Alloys...........................................................104
1.5 Hints at Microcontinua ....................................................................108
1.5.1 Kinematics ..............................................................................110
1.5.2 Dynamics and Balance of Energy .......................................116
1.5.3 Thermodynamics in Microcontinuum Fields ...................125
1.5.4 Electromagnetic Interactions ...............................................129
1.5.5 Micropolar Elasticity .............................................................130
2 Modeling Actuators ........................................................................135
2.1 A Preliminary Outlook ....................................................................135
2.2 Electrostatic Actuators .....................................................................143
2.3 Electromagnetic Actuators ..............................................................153
2.3.1 Linear Actuator with a Mobile Conductor ........................154
2.3.2 Electromagnetic Transducer ................................................157
2.3.3 DC Actuators ..........................................................................158
2.3.4 Induction Actuators ..............................................................166
2.3.5 Synchronous Actuators ........................................................173
vii
viii Contents
2.4 Piezoelectric Actuators .....................................................................176
2.4.1 Elementary Actuators ...........................................................180
2.4.2 Load Effects ............................................................................185
2.4.3 Amplification Systems ..........................................................190
2.4.4 Bender Actuators ...................................................................202
2.5 SMA Actuators ..................................................................................205
2.5.1 SMA Properties of NiTi Alloys ............................................205
2.5.2 Some Observations for the Realization and the
Selection of SMA Actuators .................................................217
2.5.3 Thermo-Electro-Mechanical Models of SMA Fibers ........221
2.5.4 Control Techniques ...............................................................224
3 Finite Element Analysis .................................................................229
3.1 Introduction to APDL .......................................................................230
3.1.1 Parameters ..............................................................................230
3.1.2 Entities .....................................................................................236
3.1.3 Controlling Program Flow ...................................................239
3.1.4 Functions and Macros ..........................................................248
3.2 ANSYS Simulations ..........................................................................254
3.2.1 Types of Simulations .............................................................257
3.3 Examples of Actuator Analysis .......................................................261
3.3.1 Analysis of an Electrostatic Actuator .................................261
3.3.2 Analysis of a Piezoelectric Actuator ...................................267
3.3.3 Multiphysic Analysis of an Electrostatic Actuator
System .....................................................................................275
4 Design and Characterization of a Pneumatic Mesovalve .........289
4.1 Introduction .......................................................................................290
4.1.1 Shape Memory Alloys...........................................................290
4.1.2 Pneumatic Valve ....................................................................292
4.1.3 Wire Choices ..........................................................................297
4.2 Layout .................................................................................................299
4.2.1 Development of a First Series of Improvements ...............301
4.3 Forces ..................................................................................................303
4.3.1 Extension and Contraction Operation ................................303
4.4 Instruments: Test Bench ...................................................................305
4.4.1 Valve Activation: Electrical Circuit .....................................305
4.4.2 Measurement ..........................................................................315
4.4.3 Experimental Setup ...............................................................316
4.4.4 Pressure Measurement .........................................................317
4.4.5 Flow Measurement ................................................................318
4.4.6 Installation of Test Specimen ...............................................320
4.4.7 Data Acquisition System.......................................................321
Contents ix
4.5 Valve Characterization .....................................................................322
4.5.1 Flow Capacity C .....................................................................323
4.5.2 Example of Sizing Calculation ............................................326
4.5.3 Time Response .......................................................................327
4.6 Measures and Observations ............................................................330
4.6.1 Tests in Calm Air ...................................................................330
4.6.2 Static Tests...............................................................................332
4.6.3 Dynamic Tests ........................................................................336
References ................................................................................................345
Appendix A: Notation .............................................................................351
Appendix B: System of Units .................................................................363
Appendix C: Mathematical Derivations ..............................................377
C.1 Spherical Joint ....................................................................................377
C.2 Flexure Hinges ..................................................................................380
Index ..........................................................................................................387