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Development of a Flapping Actuator Based on Oscillating Electromagnetic Fields

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Date Issued:
2016
Summary:
In this work a bio-inspired flapping actuator based on varied magnetic fields is developed, controlled and characterized. The actuator is sought to contribute to the toolbox of options for bio-mimetics research. The design is that of a neodymium bar magnet on one end of an armature which is moved by two air core electromagnetic coils in the same manner as agonist and antagonist muscle pairs function in biological systems. The other end of the armature is fitted to a rigid fin extending beyond the streamline enclosure body to produce propulsion. A series of tests in still water were performed to measure the kinematics and propulsive force for different control schemes including the effect of adding antagonistic resistance to the control schemes. Control methods based on armature position and based on setpoint error were tested and antagonist force was found to increase consistency of control of the systems in certain cases.
Title: Development of a Flapping Actuator Based on Oscillating Electromagnetic Fields.
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Name(s): Spragg, Donald Oakley, author
Curet, Oscar M., Thesis advisor
Florida Atlantic University, Degree grantor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Created: 2016
Date Issued: 2016
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 152 p.
Language(s): English
Summary: In this work a bio-inspired flapping actuator based on varied magnetic fields is developed, controlled and characterized. The actuator is sought to contribute to the toolbox of options for bio-mimetics research. The design is that of a neodymium bar magnet on one end of an armature which is moved by two air core electromagnetic coils in the same manner as agonist and antagonist muscle pairs function in biological systems. The other end of the armature is fitted to a rigid fin extending beyond the streamline enclosure body to produce propulsion. A series of tests in still water were performed to measure the kinematics and propulsive force for different control schemes including the effect of adding antagonistic resistance to the control schemes. Control methods based on armature position and based on setpoint error were tested and antagonist force was found to increase consistency of control of the systems in certain cases.
Identifier: FA00004699 (IID)
Degree granted: Thesis (M.S.)--Florida Atlantic University, 2016.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): Includes bibliography.
Subject(s): Actuators -- Materials
Artificial intelligence -- Biological applications
Biomimetics
Biophysics
Natural computation
Robotics
Robots -- Kinematics
Held by: Florida Atlantic University Libraries
Sublocation: Digital Library
Links: http://purl.flvc.org/fau/fd/FA00004699
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00004699
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.