FR2950756A1 - Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve - Google Patents
Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve Download PDFInfo
- Publication number
- FR2950756A1 FR2950756A1 FR0904578A FR0904578A FR2950756A1 FR 2950756 A1 FR2950756 A1 FR 2950756A1 FR 0904578 A FR0904578 A FR 0904578A FR 0904578 A FR0904578 A FR 0904578A FR 2950756 A1 FR2950756 A1 FR 2950756A1
- Authority
- FR
- France
- Prior art keywords
- strands
- electrical signals
- length
- actuator
- controlled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000002041 carbon nanotube Substances 0.000 description 4
- 229910021393 carbon nanotube Inorganic materials 0.000 description 4
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 150000002739 metals Chemical class 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000361919 Metaphire sieboldi Species 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002322 conducting polymer Substances 0.000 description 1
- 229920001940 conductive polymer Polymers 0.000 description 1
- 230000010339 dilation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/006—Motors
Abstract
Description
Dans de multiples applications en mécanique et particulièrement en micromécanique, des actionneurs sont requis pour assurer le contrôle de la position angulaire d'objets tant dans la direction azimutale que polaire. In many applications in mechanics and particularly in micromechanics, actuators are required to control the angular position of objects in both the azimuthal and polar directions.
L'état de l'art propose de nombreuses solutions pour réaliser le contrôle et la commande de l'élongation d'éléments filaires, filaments, tiges ou brins. La présente invention concerne une méthode de conversion des variations contrôlées de la longueur d'au moins trois brins en un mouvement angulaire à deux dimensions. La conversion des variations de longueur de deux feuillets solidaires est bien connue et utilisée dans les bilames. Les bilames sont des dispositifs composés de deux lames de métaux ou d'alliages différents, souples, soudés ou collés l'un contre l'autre, dans le sens de la longueur. Leur dilatation étant différente, l'objet se déforme dans une direction angulaire. The state of the art offers many solutions to carry out the control and control of the elongation of wire elements, filaments, rods or strands. The present invention relates to a method of converting controlled variations in the length of at least three strands into a two-dimensional angular movement. The conversion of length variations of two integral sheets is well known and used in bimetallic strips. Bimetals are devices made of two blades of different metals or alloys, flexible, welded or glued against each other, in the direction of the length. As their dilation is different, the object is deformed in an angular direction.
Selon l'invention proposée ici, trois brins flexibles, ou plus, dont la dilatation ou l'élongation peuvent être contrôlées individuellement, sont soudés, collés ou englués les uns avec les autres, dans le sens de la longueur, ou sont encore glissés dans une gaine dans laquelle ils peuvent coulisser et se déformer. According to the invention proposed herein, three or more flexible strands, the expansion or elongation of which can be individually controlled, are welded, glued or stuck together, lengthwise, or are still slid in. a sheath in which they can slide and deform.
La présente invention concerne une méthode et un dispositif de conversion des signaux électriques en un mouvement angulaire dans les directions polaire et azimutale. Le dispositif est composé d'un faisceau d'au moins trois brins dont les longueurs sont contrôlées individuellement par des signaux électriques. Les brins sont solidairement assemblés de telle sorte que le changement de longueur de l'un des brins entraîne la courbure de l'ensemble du faisceau. Cet assemblage solidaire des brins est obtenu soit par un lien mécanique soit par soudage ou engluage soit encore par disposition de l'ensemble des brins dans une gaine flexible dans laquelle les brins peuvent se déformer transversalement et/ou longitudinalement et coulisser. The present invention relates to a method and a device for converting electrical signals into angular movement in the polar and azimuthal directions. The device is composed of a bundle of at least three strands whose lengths are individually controlled by electrical signals. The strands are integrally assembled so that the change in length of one of the strands causes the curvature of the entire beam. This integral assembly of the strands is obtained either by a mechanical bond or by welding or engulfing or even by arranging all the strands in a flexible sheath in which the strands may deform transversely and / or longitudinally and slide.
Un exemple de réalisation d'un actionneur trifilaire est représenté sur la Figure 1. L'actionneur trifilaire est constitué de trois brins 1, 2 et 3 disposés dans une gaine 4. Les extrémités des brins définissent un plan, matérialisé ou non par un plateau. Dans ce plan leurs centres sont, au repos, disposées à 120° les uns des autres. La Figure 3 montre la base de l'actionneur trifilaire disposé dans une gaine 4. Le rayon de courbure du faisceau, évalué à l'orthocentre du triangle défini par les trois extrémités des brins, est donné par R. Pour les brins 1, 2 et 3 les rayons de courbure sont, comme illustré sur la Figure 3, R1, R2 et R3 . Si les longueurs des brins 1, 2 et 3 sont ll, 12 et 13, on peut écrire, dans le cas d'une courbure uniforme: = 9[R ù r cos rp], 12=6 R ù rcos 27r 13=6 Rùrcos \rpù 3 i p--, Les angles ça et B, définis Figure 2, sont déterminés uniquement par le choix des longueurs h, 12et13. La Figure 4 montre la base de l'actionneur multifilaire dans une version à douze brins 10 contenus dans la gaine 11. Le nombre de brins est arbitraire. L'élongation de chaque brin doit être contrôlée individuellement de manière maîtrisée de telle façon que cette élongation soit proportionnelle à la distance relative entre la brin considéré et le centre de courbure ( qui est déterminé par la direction qP désirée.) La Figure 5 décrit une version de l'actionneur trifilaire en position courbée dans laquelle le plan défini par les extrémités des brins 1, 2 et 3 est matérialisé par les plateaux 5 et 6 solidaires de ces extrémités. Sur la Figure 6 une version de l'actionneur multifilaire en position courbé est proposée. Pour des commodités de commandabilité ou des particularités d'utilisation la mise en cascade d'actionneurs semblables à celui de la Figure 5 peut être envisagée, produisant ainsi une segmentation des éléments filaires constituant le faisceau et permettant des courbures plus complexes par introduction de degrés de libertés supplémentaires. Ces degrés de libertés peuvent être contrôlés séquentiellement ou indépendamment comme le propose la référence suivante où différentes architectures de plateformes de génération de mouvement sont inventoriées • P. Dario, M. Carrozza, E. Guglielmelli, C. Laschi, A. Menciassi, S. Micera, und F. An exemplary embodiment of a trifilar actuator is shown in FIG. 1. The trifilar actuator consists of three strands 1, 2 and 3 arranged in a sheath 4. The ends of the strands define a plane, whether or not a plateau . In this plane their centers are, at rest, arranged at 120 ° from each other. Figure 3 shows the base of the trifilar actuator disposed in a sheath 4. The radius of curvature of the beam, evaluated at the orthocenter of the triangle defined by the three ends of the strands, is given by R. For the strands 1, 2 and 3 the radii of curvature are, as illustrated in Figure 3, R1, R2 and R3. If the lengths of the strands 1, 2 and 3 are 11, 12 and 13, in the case of a uniform curvature, we can write: = 9 [R ù r cos rp], 12 = 6 R ù rcos 27r 13 = 6 The angles β and β, defined in Figure 2, are determined solely by the choice of the lengths h, 12 and 13. Figure 4 shows the base of the multifilament actuator in a twelve-stranded version contained in the sheath 11. The number of strands is arbitrary. The elongation of each strand must be controlled individually in a controlled manner so that this elongation is proportional to the relative distance between the considered strand and the center of curvature (which is determined by the desired qP direction.) FIG. version of the trifilar actuator in curved position in which the plane defined by the ends of the strands 1, 2 and 3 is materialized by the plates 5 and 6 integral with these ends. In Figure 6 a version of the multifilament actuator in the curved position is proposed. For controllability convenience or particularities of use cascading actuators similar to that of Figure 5 can be envisaged, thereby producing a segmentation of the wire elements constituting the beam and allowing more complex curvatures by introducing degrees of additional freedoms. These degrees of freedom can be controlled sequentially or independently as proposed by the following reference, where different architectures of motion generation platforms are inventoried. P. Dario, M. Carrozza, E. Guglielmelli, C. Laschi, A. Menciassi, S. Micera, und F.
Vecchi, "Robotics as a future and emerging technology: biomimetics, cybernetics, and neuro-robotics in European projects," Robotics & Automation Magazine, IEEE, vol. 12, 2005, S. 29-45. La déformation et l'élongation des éléments filaires responsables de la courbure du faisceau peut être obtenue par la mise en jeu de différents phénomènes physiques et matériaux associés. Ces éléments filaires peuvent être en effet rapprochés de muscles artificiels et bénéficient des technologies associées, dont de nombreuses sont décrites dans • JDW Madden, and Vandesteeg, NA and Anquetil, PA and Madden, PGA and Takshi, A. and Pytel, RZ and Lafontaine, SR and Wieringa, PA and Hunter, IW " Artificial muscle technology: physical principles and naval prospects", IEEE Journal of oceanic engineering, vol 29, n°3, pp 705-728, 2004 • R.H. Baughman, "Conducting polymer artificial muscles," Synthetic metals, vol. 78, 1996, S. 339-354. Vecchi, "Robotics as a future and emerging technology: biomimetics, cybernetics, and neuro-robotics in European projects," Robotics & Automation Magazine, IEEE, vol. 12, 2005, S. 29-45. The deformation and elongation of the wire elements responsible for the curvature of the beam can be obtained by involving different physical phenomena and associated materials. These wired elements can in fact be brought closer to artificial muscles and benefit from the associated technologies, many of which are described in JDW Madden, and Vandesteeg, NA and Anquetil, PA and Madden, PGA and Takshi, A. and Pytel, RZ and Lafontaine. , SR and Wieringa, PA and Hunter, IW "Artificial muscle technology: physical principles and naval prospects", IEEE Journal of Oceanic Engineering, Vol 29, No. 3, pp 705-728, 2004 • RH Baughman, "Conducting Polymer Artificial Muscle" "Synthetic metals, vol. 78, 1996, S. 339-354.
Selon l'échelle, le volume et le poids du dispositif dans lequel doit être effectuée l'actuation, différentes technologies peuvent être envisagées pour la réalisation des filaments. On citera par exemple, et de manière non exhaustive, les alliages à mémoire de forme électriquement ou magnétiquement activés , les alliages à mémoire de forme de type biométal ou les nanotubes de carbone. Depending on the scale, the volume and the weight of the device in which the actuation must be performed, different technologies can be envisaged for the production of the filaments. For example, and non-exhaustively, electrically or magnetically activated shape memory alloys, shape memory alloys of the biometal type or carbon nanotubes.
Les multiples potentialités des nanotubes de carbone sont détaillées dans • R.H. Baughman, A.A. Zakhidov, und W.A. de Heer, "Carbon nanotubes-the route toward applications," Science, vol. 297, 2002, S. 787-792. • M. Zhang, K.R. Atkinson, und R.H. Baughman, Multifunctional carbon nanotube yarns by downsizing an ancient technology, American Association for the Advancement of Science, 2004. et plus spécifiquement leur utilisation en tant qu'actionneurs dans • R.H. Baughman, C. Cui, A.A. Zakhidov, Z. Iqbal, J.N. Barisci, G.M. Spinks, G.G. 5 Wallace, A. Mazzoldi, D. De Rossi, A.G. Rinzler, und others, "Carbon nanotube actuators," Science, vol. 284, 1999, S. 1340. • T. Mirfakhrai, J. Oh, M. Kozlov, E.C. Fok, M. Zhang, S. Fang, R.H. Baughman, und J.D. Madden, "Electrochemical actuation of carbon nanotube yarns," Smart Materials and Structures, vol. 16, 2007, S. 243. 10 De nombreux actionneurs exploitant la courbure du filaments en alliages à mémoire de forme ont pu être réalisés. Des actionneurs type äpince sont décrits dans The multiple potentialities of carbon nanotubes are detailed in • R. H. Baughman, A. A. Zakhidov, and W. A. de Heer, "Carbon nanotubes-the road to applications," Science, vol. 297, 2002, S. 787-792. • Mr. Zhang, KR Atkinson, and RH Baughman, Multifunctional carbon nanotube by downsizing an ancient technology, American Association for the Advancement of Science, 2004. and more specifically their use as actuators in • RH Baughman, C. Cui , AA Zakhidov, Z. Iqbal, JN Barisci, Spinks GM, Wallace GG, Mazzoldi A., Rossi D., Rinzler AG, und others, "Carbon nanotube actuators," Science, vol. 284, 1999, S. 1340. T. Mirfakhrai, J. Oh, M. Kozlov, EC Fok, M. Zhang, S. Fang, RH Baughman, and JD Madden, "Electrochemical actuation of carbon nanotube yarns," Smart Materials and Structures, vol. 16, 2007, S. 243. Many actuators exploiting the curvature of the filaments of shape memory alloys have been realized. Tip-type actuators are described in
Yang Kai and Gu Cheng-lin, , Optimization and Application of Novel Planar Bending ESMAAs, Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of 15 the IEEE, Nov 2007, pp 2325-2330. Yang Kai and Gu Cheng-lin, Optimization and Application of the Novel Planar Bending ESMAAs, Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE, Nov 2007, pp 2325-2330.
La mise en cascade d'actionneurs à été largement développée à partir d'alliages à mémoire de forme dans • Menciassi, S. Gorini, G. Pernorio, und P. Dario, "A SMA actuated artificial 20 earthworm," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, 2004, S. 3282-3287 Vol.4. The cascading of actuators has been widely developed from shape memory alloys in Menciassi, S. Gorini, G. Pernorio, and P. Dario, "A SMA actuated artificial earthworm," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, 2004, S. 3282-3287 Vol.4.
• B. Kim and M. G Lee and Y. P Lee and Y. I Kim and G. H Lee, "An earthworm-like micro robot using shape memory alloy actuator", Sensors & Actuators: A. Physical, 25 vol 125, n°2, pp429-437, 2005. • B. Kim and M. G Lee and Y. P Lee and Y. I Kim and G. H Lee, "An earthworm-like micro robot using shape memory alloy actuator", Sensors & Actuators: A. Physical, 25 vol 125 , No. 2, pp429-437, 2005.
Figures Figure 1: Exemple d'une forme de réalisation d'un actionneur trifilaire. Figure 2: Vue longitudinale et Coupe transversale d'un actionneur trifilaire portant indication des directions de l'actuation. Figure 3: Définition des positions relatives des brins de l'actionneur trifilaire Figure 4: Coupe transversale d'un actionneur multifilaire Figure 5: Exemple d'une forme de réalisation d'un actionneur trifilaire avec plateaux. Figure 6: Exemple d'une forme de réalisation d'un actionneur multifilaire. 4 Figures Figure 1: Example of an embodiment of a trifilar actuator. Figure 2: Longitudinal view and Cross section of a trifilar actuator indicating the directions of the actuation. Figure 3: Definition of the relative positions of the strands of the trifilar actuator Figure 4: Cross section of a multifilament actuator Figure 5: Example of an embodiment of a trifilar actuator with trays. Figure 6: Example of an embodiment of a multi-wire actuator. 4
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0904578A FR2950756A1 (en) | 2009-09-25 | 2009-09-25 | Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0904578A FR2950756A1 (en) | 2009-09-25 | 2009-09-25 | Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| FR2950756A1 true FR2950756A1 (en) | 2011-04-01 |
Family
ID=42651288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR0904578A Pending FR2950756A1 (en) | 2009-09-25 | 2009-09-25 | Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve |
Country Status (1)
| Country | Link |
|---|---|
| FR (1) | FR2950756A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060258912A1 (en) * | 2000-04-03 | 2006-11-16 | Amir Belson | Activated polymer articulated instruments and methods of insertion |
| US20090082723A1 (en) * | 2005-11-17 | 2009-03-26 | Magnus Krogh | Medical devices and methods for their fabrication and use |
| US20090085444A1 (en) * | 2005-05-05 | 2009-04-02 | Rodrigo Alvarez Icaza Rivera | Dielectric elastomer fiber transducers |
-
2009
- 2009-09-25 FR FR0904578A patent/FR2950756A1/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060258912A1 (en) * | 2000-04-03 | 2006-11-16 | Amir Belson | Activated polymer articulated instruments and methods of insertion |
| US20090085444A1 (en) * | 2005-05-05 | 2009-04-02 | Rodrigo Alvarez Icaza Rivera | Dielectric elastomer fiber transducers |
| US20090082723A1 (en) * | 2005-11-17 | 2009-03-26 | Magnus Krogh | Medical devices and methods for their fabrication and use |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Liu et al. | Micrometer-sized electrically programmable shape-memory actuators for low-power microrobotics | |
| TWI383919B (en) | Electrical bicycle shift control device | |
| Wang et al. | Stretchable thin film materials: fabrication, application, and mechanics | |
| JP4955740B2 (en) | Phalange contact load cell | |
| US8440089B2 (en) | Three-dimensional structure and its manufacturing method | |
| JP4921533B2 (en) | Tendon tension sensor | |
| WO2016073584A1 (en) | Origami enabled deformable electronics | |
| Park et al. | Physical principles of ionic polymer–metal composites as electroactive actuators and sensors | |
| CN110763132B (en) | Omnidirectional sensing bionic strain sensor and preparation method thereof | |
| Kim et al. | Analysis of mechanical characteristics of the ionic polymer metal composite (IPMC) actuator using cast ion-exchange film | |
| TWI326262B (en) | Bicycle shift control device | |
| FR2950756A1 (en) | Electrical signals converting device for multiwire actuator, has strands constituting beam whose length are controlled by electrical signals, where strands are integrated so that changing of length of beam produces beam assembly curve | |
| US8915148B2 (en) | Motion conversion system | |
| Bertetto et al. | A two degree of freedom gripper actuated by SMA with flexure hinges | |
| US9546917B2 (en) | Strain amplification sensor | |
| JP2009259595A (en) | Metal material with electrical contact layer and method for manufacturing the same | |
| CN114902103A (en) | Actuating device | |
| Biswal et al. | Bending response optimization of an ionic polymer-metal composite actuator using orthogonal array method | |
| KR20100013811A (en) | Self-sensing ionic polymer-metal composite actuator | |
| Deshpande et al. | High-toughness aluminum-n-doped polysilicon wiring for flexible electronics | |
| US10622591B2 (en) | Battery container | |
| Chen et al. | A cable-driven switching-legged inchworm soft robot: design and testing | |
| US10352428B2 (en) | Slide component, bicycle component, bicycle rear sprocket, bicycle front sprocket, bicycle chain, and method of manufacturing slide component | |
| CN111571621B (en) | Structure-integrated clamp finger translation type compliant mechanism piezoelectric micro clamp | |
| Koo et al. | Design and application of a novel in situ nano-manipulation stage for transmission electron microscopy |