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Development of a solenoid injected l...

Shields, Bobby.

Development of a solenoid injected liquid monopropellant-powered actuator for self-powered robots.

紀錄類型:	書目-電子資源 : 單行本
正題名/作者:	Development of a solenoid injected liquid monopropellant-powered actuator for self-powered robots./
作者:	Shields, Bobby.
面頁冊數:	142 p.
附註:	Source: Dissertation Abstracts International, Volume: 66-04, Section: B, page: 2278.
Contained By:	Dissertation Abstracts International66-04B.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3170656
ISBN:	9780542072048

Development of a solenoid injected liquid monopropellant-powered actuator for self-powered robots.
Shields, Bobby.

Development of a solenoid injected liquid monopropellant-powered actuator for self-powered robots. - 142 p.

Source: Dissertation Abstracts International, Volume: 66-04, Section: B, page: 2278.

Thesis (Ph.D.)--Vanderbilt University, 2005.

One of the problems in the development of a human-scale, self-powered robot is that of a suitable power supply. Conventional actuation technology (i.e. battery-powered servomotors) does not possess the energy and power density required to allow such robots to perform work for extended periods of time. This dissertation concerns the development of an actuation system that can provide mechanical power to a self-powered, human-scale robot that has much greater energy and power density than current state-of-the-art batteries and motors. This will allow the robot to operate for a much longer time. Specifically, a direct-injection, liquid monopropellant-powered actuation system is developed that utilizes the catalytic decomposition of hydrogen peroxide as a hot gas generator for powering pneumatic-type actuators. Pressurization of a pneumatic actuator is provided via solenoid injection valves, which control the flow of the monopropellant through a catalyst pack into each side of the actuator. Depressurization is provided by a three-way proportional spool valve, which can exhaust one of the two cylinder chambers. A supervisory controller coordinates the operation of the three system inputs so that the actuator can track a desired force or position trajectory. A prototype of the actuation system is described, and experimental data are presented that demonstrates good force and position tracking performance. Experimental results characterizing the energetic performance of the system demonstrate that the prototype provides an energetic figure of merit of an order of magnitude greater than that of battery-powered servomotors.

ISBN: 9780542072048Subjects--Topical Terms:

170925
Engineering, Mechanical.

Development of a solenoid injected liquid monopropellant-powered actuator for self-powered robots.
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500 $a Director: Michael Goldfarb.
502 $a Thesis (Ph.D.)--Vanderbilt University, 2005.
520 $a One of the problems in the development of a human-scale, self-powered robot is that of a suitable power supply. Conventional actuation technology (i.e. battery-powered servomotors) does not possess the energy and power density required to allow such robots to perform work for extended periods of time. This dissertation concerns the development of an actuation system that can provide mechanical power to a self-powered, human-scale robot that has much greater energy and power density than current state-of-the-art batteries and motors. This will allow the robot to operate for a much longer time. Specifically, a direct-injection, liquid monopropellant-powered actuation system is developed that utilizes the catalytic decomposition of hydrogen peroxide as a hot gas generator for powering pneumatic-type actuators. Pressurization of a pneumatic actuator is provided via solenoid injection valves, which control the flow of the monopropellant through a catalyst pack into each side of the actuator. Depressurization is provided by a three-way proportional spool valve, which can exhaust one of the two cylinder chambers. A supervisory controller coordinates the operation of the three system inputs so that the actuator can track a desired force or position trajectory. A prototype of the actuation system is described, and experimental data are presented that demonstrates good force and position tracking performance. Experimental results characterizing the energetic performance of the system demonstrate that the prototype provides an energetic figure of merit of an order of magnitude greater than that of battery-powered servomotors.
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