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The Resource Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator, by Kenneth Lee Pottebaum

Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator, by Kenneth Lee Pottebaum

Label
Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator
Title
Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator
Statement of responsibility
by Kenneth Lee Pottebaum
Creator
Subject
Language
eng
Summary
  • A LADD actuator is a device composed of plastic hoops and flexible fibers arranged similarly to how the rungs and ropes in a rope ladder are arranged. This device is capable of converting rotational motion to translational motion and has potential for use in manipulators, robotics, and prosthetics. A concentric LADD (CLADD) actuator is a device utilizing two LADD actuators. The advantage of the CLADD actuator over a LADD actuator is the change in the boundary conditions on the actuator; it removes one constraint. The disadvantage is that the CLADD actuator configuration compounds the nonlinearities present in the simple LADD actuator
  • Two low order lumped parameter models of a CLADD actuator have been formulated and verified. The models included the mass at the ends of the LADD actuators in the CLADD actuator and neglected the mass of the individual hoops and fibers which made up the LADD actuator. The "inelastic" model neglected the elasticity of the LADD fibers and the "elastic" model included the effects of the elastic fibers in the CLADD. The verification results and the comparison of the inelastic model to the elastic model indicated that for most applications the second order inelastic model could be used instead of the sixth order elastic model. The conditions for which the inelastic model is not applicable are: 1) when the loading force on the actuator is very large or varies greatly, 2) for natural frequencies close to the first natural frequency of the actuator, 3) when the system is lightly damped and the damping is not experimentally determined. The sensitivity of the actuator to the elasticity of the fibers in the CLADD decreases slightly as the actuator is contracted. Therefore, the elasticity of the fiber is most important when the CLADD is fully extended, but it is still not very significant
  • Neither of the models is valid for frequencies above the first natural frequency of the actuator, for excessive contractions or rotations of the actuator, or if the CLADD fibers are not kept in tension. Excessive contractions are contractions that cause the two LADD actuators to interfere with each other; this interference occurs at a contraction of approximately 30 percent of the CLADD actuator's length
  • The mechanical advantage, when defined as the ratio of loading force on the CLADD to the input torque is, a nonlinear function of the contraction of the CLADD and a linear function of the total twist in the CLADD. The mechanical advantage decreases rapidly the more the CLADD is contracted. Generally the decreasing mechanical advantage limits the range of operation of the CLADD actuator more than the interference between its LADD actuators
Cataloging source
IXA
Degree
Ph. D.
Dissertation year
1982
Granting institution
University of Texas at Austin
LC call number
TJ211
LC item number
.P68 1982
Label
Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator, by Kenneth Lee Pottebaum
Instantiates
Publication
Note
Vita
Bibliography note
Includes bibliographical references (leaves 119-120)
Carrier category
volume
Carrier MARC source
rdacarrier
Content category
text
Content type MARC source
rdacontent
Dimensions
28 cm.
Extent
xi, 120 leaves
Media category
unmediated
Media MARC source
rdamedia
Other physical details
ill.
System control number
  • (OCoLC)ocm09388734
  • (OCoLC)ocn506135341
Label
Dynamic nonlinear inelastic and elastic models for a concentric LADD actuator, by Kenneth Lee Pottebaum
Publication
Note
Vita
Bibliography note
Includes bibliographical references (leaves 119-120)
Carrier category
volume
Carrier MARC source
rdacarrier
Content category
text
Content type MARC source
rdacontent
Dimensions
28 cm.
Extent
xi, 120 leaves
Media category
unmediated
Media MARC source
rdamedia
Other physical details
ill.
System control number
  • (OCoLC)ocm09388734
  • (OCoLC)ocn506135341

Library Locations

    • Harold B. Lee Library Brigham Young University, Provo, UT, 84602, US
      40.249156 -111.649242
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