Design and Evaluation of a Buckled Strip Compliant Actuator

作者：Alazmani Ali^*; Keeling David G; Walker Peter G; Abbas S Khawar; Jaber Osama; Sivananthan Mohan; Watterson Kevin; Levesley Martin C

来源：IEEE/ASME Transactions on Mechatronics, 2013, 18(6): 1819-1826.

DOI：10.1109/TMECH.2012.2215048

• Cardiac simulation
• compliance
• compliant actuator
• frequency response
• post-buckled strip

A novel compliant actuator based upon the compliance of a buckled thin strip is presented. It is suggested that the actuator can be used for a point contact attachment or to generate a 2-D or 3-D compliant surface. Compliance variation was obtained by changing the distance between the ends of the buckled strip using a linear actuator and by altering the end attachments from hinged to clamped. A mathematical model is developed and experimentally validated to predict the shape of the compliant surface so that its profile can be controlled and matched to a target surface shape. The general characterization of the actuator is presented here in terms of compliance modification and frequency response. Results demonstrated that actuator compliance could be increased 2x by adjustment of the end boundary attachments, and 8x by adjusting the end displacement as well. These increases could be achieved %26quot;on-the-fly%26quot;, without reconfiguring the system. The actuator also generated a stable, linear response in the design range of up to 4.0 Hz. In conclusion, we have shown that a buckled strip/linear motor combination can produce an accurate, predictable, and controlled active compliance actuator suitable for a range of applications, but designed here for applications involving interaction with or simulation of biological tissues.

• 出版日期2013-12