Design, development and control of a new generation high performance linear actuator for parallel robots and other applications

The main focus of this research is to design and develop a high performance linear actuator based on a four bar mechanism. The present work includes the detailed analysis (kinematics and dynamics), design, implementation and experimental validation of the newly designed actuator. High performance is characterized by the acceleration of the actuator end effector. The principle of the newly designed actuator is to network the four bar rhombus configuration (where some bars are extended to form an X shape) to attain high acceleration. Firstly, a detailed kinematic analysis of the actuator is presented and kinematic performance is evaluated through MATLAB simulations. A dynamic equation of the actuator is achieved by using the Lagrangian dynamic formulation. A SIMULINK control model of the actuator is developed using the dynamic equation. In addition, Bond Graph methodology is presented for the dynamic simulation. The Bond Graph model comprises individual component modeling of the actuator along with control. Required torque was simulated using the Bond Graph model. Results indicate that, high acceleration (around 20g) can be achieved with modest (3 N-m or less) torque input. A practical prototype of the actuator is designed using SOLIDWORKS and then produced to verify the proof of concept. The design goal was to achieve the peak acceleration of more than 10g at the middle point of the travel length, when the end effector travels the stroke length (around 1 m). The actuator is primarily designed to operate in standalone condition and later to use it in the 3RPR parallel robot. A DC motor is used to operate the actuator. A quadrature encoder is attached with the DC motor to control the end effector. The associated control scheme of the actuator is analyzed and integrated with the physical prototype. From standalone experimentation of the actuator, around 17g acceleration was achieved by the end effector (stroke length was 0.2m to 0.78m). Results indicate that the developed dynamic model results are in good agreement. Finally, a Design of Experiment (DOE) based statistical approach is also introduced to identify the parametric combination that yields the greatest performance. Data are collected by using the Bond Graph model. This approach is helpful in designing the actuator without much complexity.

Effects of introduced moose (Alces alces) on vegetation composition, nutrient dynamics, and decomposition rates in boreal forest ecosystems in Newfoundland, Canada

Globally, consumers affect ecosystem processes including nutrient dynamics. Herbivores have been known to slow nutrient flow in boreal forest ecosystems. I examined the effects of introduced moose on disturbed forests of Newfoundland, Canada by conducting a field experiment during August - November 2014 in 20 paired moose exclosure-control plots. I tested whether moose browsing directly and indirectly affected forests by measuring plant species composition, litter quality and quantity, soil quality, and decomposition rates in areas moose exclosure-control plots. I analyzed moose effects using linear mixed effects models and found evidence indicating that moose reduce plant height and litter biomass affecting the availability of carbon, nitrogen, and phosphorus. However, plant diversity, soil quality, and litter decomposition did not differ between moose exclosures and controls. Moose in Newfoundland directly influence plant regeneration and litter biomass while indirect effects on soil ecosystems may be limited by time, disturbance, and climate.