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Deformation of Electromagnetoelastic Actuator for Nano Robotics System International Robotics & Automation Journal Research Article Open Access Deformation of electromagnetoelastic actuator for nano robotics system Abstract Volume 6 Issue 2 - 2020 The regulation characteristic and the transfer function of the electromagnetoelastic actuator Afonin SM are investigated for nano robotics system. The electromagnetoelastic actuator is used National Research University of Electronic Technology, MIET, in nanotechnology, scanning microscopy, adaptive optics, laser systems, focusing and Russia image stabilization systems, vibration damping, nano and micro manipulator to penetrate the cell and to work with the genes. The mechanical and control characteristics of the Correspondence: Afonin SM, National Research University of electromagnetoelastic actuator are obtained to calculate the nano mechatronics robotics Electronic Technology, MIET, Moscow, Russia, system. The piezo actuator is used in nano and micro dosing devices, nano manipulators in Email nano and micro surgery. Received: May 11, 2020 | Published: June 25, 2020 Keywords: electromagnetoelastic actuator, piezo actuator, deformation, regulation characteristic, transfer function, mechanical and control characteristics, nano robotics system, nanotechnology Introduction dlΨ ∆= mi m The electromagnetoelastic actuator with the piezoelectric l Ψ , 1 + CC or electrostriction effect for nano robotics system is used in e ij ΨΨ nanotechnology, nano manipulator, nano pump, scanning microscopy, = Cij S0 ( slij ) , adaptive optics. The use of the electromagnetoelastic actuator is 1–6 7–24 Ψ promising in nano robotics system and nano manipulator where Cij is stiffness of the electromagnetoelastic actuator at for nanotechnology. The electromagnetoelastic actuator is the Ψ=const . electromechanical device for actuating and controlling mechanisms, systems with the conversion of electrical signals into mechanical The regulation characteristic for the transverse piezo actuator is displacements and forces.16–34 received for fixe one face and the elastic load in the following form (dlδ ) U The piezo actuator is used for nano scale motion in adaptive ∆= 31 = U l E kU31 , optics, laser systems, focusing and image stabilization systems, 1 + CCe 11 nano and micro surgery, vibration damping, nano and micro UE= δ + manipulation to penetrate the cell and to work with the genes. The k31( dl 31 ) (1 Ce C11 ) , electromagnetoelastic actuator is provided range of movement from U 6–34 where k31 is the transfer coefficient for voltage. For the piezo nanometers to ten microns; force 1000 N, response 1-10 ms. E d -10 actuator from ceramic PZT at 31 = 2 10 m/V, l δ = 20, C11 = 7 7 Deformation of actuator 2 10 N/m, Ce = 0.5 10 N/m, U = 100 V we obtain values the transfer U ⋅ coefficient for voltage k = 3.2 nm/V and the displacement ∆l = 320 Let us consider the characteristics of the electromagnetoelastic 31 nm.⋅ Therefore, we have⋅ the transfer function for voltage with lumped actuator with fixe one face. From the equation of the parameter of the transverse piezo actuator7,11,12,16–19,27,31 with fixe one electromagnetoelasticity7,10–32 the regulation characteristic of the face for the elastic-inertial load in the form actuator is received with elastic force in the form U 22 Ψ =Ξ= ++ξ W( p) ( p) U( p) k31 ( Tpt21 T tt p ) ∆l sCij e =dl Ψ− ∆, mi m = + E l S Tte MCC( 11 ) , 0 F= Cl ∆ , e where Ξ p , Up are the Laplace transforms of the Ψ ( ) ( ) where l , ∆l , d , Ψ , s , C , S are the length, the mi m ij e 0 displacement and the voltage, Tt , ξt are the time constant and the deformation or displacement of the electromagnetoelastic actuator, damping coefficient of the piezo actuator,M is the load mass. At d31 the electromagnetoelastic module or the piezo module, the electric or E = 2 10-10 m/V, l δ = 20, M =4 kg, C = 2 107 N/m, C = 0.5 107 magnetic field strength, the elastic compliance at Ψ=const , stiffness 11 U e N/m values the transfer coefficient for voltage k = 3.2 nm/V and the of the load, the area of the actuator. This length of the actuator is 31 time⋅ constant of the piezo actuator T = 0.4 10⋅ -3 s are obtained for⋅ the equal to the thickness, the height or the width, respectively, at the t transverse piezo actuator with the elastic-inertial load. longitudinal, transverse or shear piezo effect, i,, jm are the indexes. ⋅ The mechanical characteristic of the electromagnetoelastic The displacement of the electromagnetoelastic actuator with actuator for nano robotics system is received from the equation of fixe one face for elastic load is obtain in the form the regulation the electromagnetoelasticity7,10-33 in form the characteristic ST characteristic ij or ∆lF( ) at Ψ=const Submit Manuscript | http://medcraveonline.com Int Rob Auto J. 2020;6(2):84‒86. 84 ©2020 Afonin. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and build upon your work non-commercially. Copyright: Deformation of electromagnetoelastic actuator for nano robotics system ©2020 Afonin 85 The discrepancy between the experimental and calculation data for Ψ S=Ψ+ d sT, the piezo actuator is 10%. i ΨΨ=const mi m =const ij j Ψ Ψ Discussion where Si , dmi , m , sij , Tj are the relative deformation, the electromagnetoelastic module, the electric or magnetic field strength, The transfer function and the characteristics of the the elastic compliance, the mechanical stress. electromagnetoelastic actuator are calculated for nano robotics system of the deformation the actuator in nano manipulator for The control characteristic of the electromagnetoelastic actuator for nanotechnology. The mechanical and control characteristics of the nano robotics system is obtained in the form SE( ) or ∆lU( ) at im electromagnetoelastic actuator are received to calculate the nano T = const . The control characteristic has the form mechatronics robotics system. E Si = dmi E m + sT ij j . T =const T =const The piezo actuator is used in the nano manipulator for scanning The mechanical characteristic of the electromagnetoelastic microscopy. The nano manipulator with the piezo actuator is key actuator is received in the form component in the nano mechatronics system for nanotechnology. ∆=∆l l(1 − FF ) , max max Conclusions ∆ = where lmax is the maximum displacement for F 0 and Fmax is The regulation characteristic and the transfer function of the the maximum force for ∆=l 0 . electromagnetoelastic actuator are received for the nano robotics The maximum displacement of the electromagnetoelastic actuator system. The maximum displacement and the maximum force are has the form obtained for the mechanical characteristic of the electromagnetoelastic actuator. ∆=Ψlmax dlmi m . The mechanical and controm characteristics of the The maximum mechanical stress of the electromagnetoelastic electromagnetoelastic actuator are received for nano robotics system. actuator has the form The characteristics of the electromagnetoelastic actuator are used for Ψ Td= Ψ s. the calculation the nano mechatronics robotics system and the control j max mi m ij system with nano manipulator for nanotechnology. The maximum force of the electromagnetoelastic actuator is written as the expression Funding F= T S = d Ψ Ss/ Ψ , None. maxj max 0 mi m0 ij where S0 is the area of the actuator. Acknowledgments The maximum displacement and the maximum force for the piezo None. actuator with the transverse piezo effect are obtained in the form Conflicts of interest ∆=l d31 El, max 3 E The author declares that there was no conflict of interest. Fmax= d31 ES 3 0 s 11 . -10 5 -2 References At d31 = 2∙10 m/V, EU3 = δ = 3 10 V/m, l = 2∙10 m, S0 E = 1∙10-5 m2, s = 15∙10-12 m2/N for the mechanical characteristic 1. Schultz J, Ueda J, Asada H. Cellular Actuators: Modularity and 11 ⋅ Variability in Muscle-inspired Actuation. United Kingdom: Butterworth- of the transverse piezo actuator from ceramic PZT the maximum Heinemann Publisher; 2017. p. 382. displacement ∆lmax = 1200 nm and the maximum force Fmax = 40 N are received on Figure 1. 2. Mehta M, Subramani K. Nanodiagnostics in microbiology and dentistry. Emerging Nanotechnologies in Dentistry: Chapter 21. 2012:365-390. 3. Li J, Esteban-Fernández AB, Gao W, et al. Micro/nanorobots for biomedicine: Delivery, surgery, sensing, and detoxification. Science Robotics. 2017;2(4). 4. Ma W, Zhan Y, Zhang Y, et al. An intelligent DNA nanorobot with in vitro enhanced protein lysosomal degradation of HER2. Nano Letters. 2019;19(7):4505–4517. 5. Nadikattu RR. The emerging role of nanoinformatics in America. SSRN. 2020. 6. Hu C, Pane S, Nelson BJ. Soft micro- and nanorobotics. Annual Review of Control, Robotics, and Autonomous Systems. 2018;1:53–75. 7. Afonin SM. Piezo actuators for nanomedicine research. MOJ Applied Bionics and Biomechanics. 2019;3(2):56‒57. Figure 1 Mechanical characteristic of transverse piezo actuator for nano 8. Afonin SM. Condition absolute stability of control system with electro robotics system. elastic actuator for nano bioengineering and microsurgery. Surgery and Case Studies Open Access Journal. 2019;3(3):307–309. Citation: Afonin SM. Deformation of electromagnetoelastic actuator for nano robotics system. Int Rob Auto J. 2020;6(2):84‒86. DOI: 10.15406/iratj.2020.06.00205 Copyright: Deformation of electromagnetoelastic actuator for nano robotics system ©2020 Afonin 86 9. Zhou S, Yao Z. Design and optimization of a modal-independent linear 23. Afonin SM. Parametric block diagrams of a multi-layer piezoelectric ultrasonic motor. IEEE Transaction on Ultrasonics, Ferroelectrics, and transducer of nano- and microdisplacements under transverse Frequency Control. 2014;61(3):535–546. piezoelectric effect. Mechanics of Solids. 2017;52(1):81–94. 10. Uchino K. Piezoelectric actuator and ultrasonic motors. USA: Kluwer 24. Afonin SM. Multilayer electromagnetoelastic actuator for robotics Academic Publisher; 1997. p. 347. systems of nanotechnology. Proceedings of the 2018 IEEE Conference EIConRus. 2018:1698–1701.
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