U.S. patent number 3,750,067 [Application Number 05/235,295] was granted by the patent office on 1973-07-31 for ferrofluidic solenoid.
Invention is credited to James C. Administrator of the National Aeronautics and Space Fletcher, N/A, Eric E. Sabelman.
United States Patent |
3,750,067 |
Fletcher , et al. |
July 31, 1973 |
FERROFLUIDIC SOLENOID
Abstract
An electromechanical actuator for producing mechanical force
and/or motion in response to electrical signals applied thereto, is
disclosed. The actuator includes a ferromagnetic fluid and a coil
which are contained within an elastomeric capsule. Energization of
the coil by application of current to a pair of coil electrodes
extending through the walls of the elastomeric capsule produces
distortion of the capsule, i.e., radial expansion and axial
contraction. This distortion is caused by the redistribution of the
ferromagnetic fluid within the capsule under the influence of the
magnetic field produced by the energized coil. Variation of the
current input will produce corresponding variations in the degree
of capsule distortion.
Inventors: |
Fletcher; James C. Administrator of
the National Aeronautics and Space (N/A), N/A (Palo
Alto, CA), Sabelman; Eric E. |
Family
ID: |
22884906 |
Appl.
No.: |
05/235,295 |
Filed: |
March 16, 1972 |
Current U.S.
Class: |
335/296;
335/297 |
Current CPC
Class: |
H01F
7/20 (20130101); F16K 31/02 (20130101); H01F
7/08 (20130101); A61F 2/72 (20130101); A61F
2002/0894 (20130101) |
Current International
Class: |
A61F
2/72 (20060101); A61F 2/50 (20060101); H01F
7/08 (20060101); F16K 31/02 (20060101); H01F
7/20 (20060101); A61F 2/08 (20060101); H01f
003/00 () |
Field of
Search: |
;335/281,296,297,303,1,209 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Harris; George
Claims
What is claimed is:
1. An electromechanical actuator for producing mechanical movement
in response to the application of electric current, the actuator
comprising:
a flexible closed shell capable of omnidirectional deformation
having an interior cavity formed by the wall thereof;
an electrical coil maintained unattached in said cavity so that the
entire shell is relatively movable to said electrical coil;
means for energizing said electrical coil including a pair of
terminals extending through said wall of said shell and connected
to said electrical coil;
a magnetizable fluid completely surrounding said suspended coil and
fully occupying said cavity to exert a hydrostatic pressure on said
shell, said shell being deformed when a magnetic pressure is
created in said magnetizable fluid within said shell by the
application of current through said terminals to energize said
coil.
2. The electromechanical actuator defined by claim 1, said shell
comprising an elastomeric material forming a continuous closed wall
and an oblong configuration when subject to only said hydrostatic
pressure, said fluid comprising a ferromagnetic fluid responsive to
a magnetic field created by energization of said coil, said shell
assuming a substantially spherical shape when subject to said
magnetic pressure.
3. A ferrofluidic solenoid comprising:
a flexible capsule having a hollow interior area formed by the wall
thereof;
a coil having an open bore positioned in said hollow interior area
so that the entire wall is movable relative to said coil;
means connected to said coil for permitting the application of
electrical current to said coil;
a magnetizable fluid contained within said capsule and fully
immersing said coil, said open bore containing only said
magnetizable fluid, said flexible capsule producing an output force
by being deformed by said magnetizable fluid when the fluid
pressure of said magnetizable fluid within said shell is varied by
the application of current through said terminals to energize said
coil.
4. The actuator defined by claim 1, said shell comprising an
elastomeric material.
5. The actuator defined by claim 1, said fluid comprising a
ferromagnetic fluid.
6. The actuator defined by claim 1, said fluid comprising a
colloidal, non-flocculating suspension of high permeability
particles in an inert liquid.
7. The actuator defined by claim 1 further including output members
connected at opposing points along the exterior of said shell for
transmitting mechanical forces developed by deformation of said
shell to articles connected thereto.
8. The actuator defined by claim 7, said shell comprising an
elastomeric material and having an oblong spherical configuration,
said coil having the longitudinal axis thereof superimposed with
the longitudinal axis of said shell, said output members connected
to said shell at opposing points on said shell intersecting said
longitudinal axis.
9. The actuator defined by claim 8, said fluid comprising a
ferromagnetic fluid.
10. The ferrofluidic solenoid defined by claim 3, said capsule
comprising an elastomeric shell having a continuous closed wall and
an oblong configuration, said fluid comprising a ferromagnetic
fluid responsive to introduction to a magnetic field created by
energization of said coil.
11. The ferrofluidic solenoid defined by claim 10, said coil having
the longitudinal axis thereof superposed with the longitudinal axis
of said capsule, said solenoid further including connecting arms
secured to the exterior surface of said capsule at opposing points
thereon intersecting said longitudinal axis of said capsule.
Description
ORIGIN OF THE INVENTION
The invention described herein was made in the performance of work
under a NASA contract and is subject to the provisions of Section
305 of the National Aeronautics and Space Act of 1958, Public Law
85-568 (72 Stat. 435; 42 U.S.C. 2457).
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention generally relates to electromechanical devices for
producing predetermined mechanical movements, or reactions, in
response to the application of electrical energy. More
specifically, the present invention concerns ferrofluidic actuators
that will readily serve as a current-to-pressure transducer, i.e.,
variable force at constant displacement, or as a current-to-motion
transducer, i.e., variable displacement at constant force.
2. Description of the Prior Art
Electromechanical actuators including the use of a ferromagnetic
fluid have heretofore been fabricated. The magnetic fluid is
generally maintained in a container which is positioned to allow
controlled magnetic forces to act on the magnetic fluid and thereby
cause mechanical movement.
Such electromechanical actuators using a magnetic fluid present
several advantages over conventional solenoids which include a core
and a concentrically positioned coil. Among these advantages are
the provision of maximum force at the extreme end of a work stroke,
and the production of variable force or displacement in response to
variations in electrical current applied thereto. A further
advantage provided by ferrofluidic solenoids is the reduction, or
elimination, of sliding or rotating parts thereby enabling the
lifetime of the solenoid to be limited only by fatigue, puncture or
corrosion of the capsule containing the magnetic fluid.
An example of a prior art electromechanical actuator including the
use of a magnetic fluid is disclosed in U.S. Pat. No. 2,792,536.
Briefly, the referenced prior art device involves a ferromagnetic
fluid that is sealed in a container having flexible walls to form
the core of a solenoid. A coil is situated in close proximity to
the container such that the application of electric current to the
coil produces deformation of the container.
Such prior art ferrofluidic solenoids have been found to be bulky
and are, by design, limited to producing forces that are generally
resolvable along a single axis or plane. Further, these prior art
devices are generally unacceptable for employment in spacecraft due
to their undesirable levels of magnetic flux leakage which may
cause deleterious affects on adjacent scientific
instrumentation.
It is accordingly the intention of the present invention to provide
an improved ferrofluidic solenoid which is principally
characterized by compactness, simplicity, low magnetic flux
leakage, and the provision of useful mechanical forces along
multiple axes or planes.
OBJECTS AND SUMMARY OF THE INVENTION
It is a primary object of the present invention to provide an
improved ferrofluidic solenoid for producing mechanical forces or
movement in response to the application of electrical energy.
It is another object of the present invention to provide a
ferrofluidic solenoid characterized by compactness, simplicity and
low magnetic flux leakage.
It is a further object of the present invention to provide a
ferrofluidic solenoid that will produce useable mechanical forces
along multiple axes or planes.
It is a yet further object of the present invention to provide a
ferrofluidic solenoid that is suitable for employment in
multiples.
Briefly described, the present invention involves an
electromechanical actuator embodied as a ferrofluidic device for
producing a mechanical force, or displacement, in response to the
application of electrical energy.
More particularly, the subject electromechanical actuator includes
a ferromagnetic fluid and an electric coil which are both contained
within an elastomeric capsule. Electrodes of the coil extend
through the capsule walls to permit the application of electric
current to the coil. The magnetic field produced by the coil, when
energized, causes redistribution of the fluidic mass within the
capsule and, as a consequence, deformation of the capsule.
Further objects and the many attendant advantages of the invention
will be more readily appreciated as the same becomes better
understood by reference to the following detailed description which
is to be considered in connection with the accompanying drawings
wherein like reference symbols designate like parts throughout the
figures thereof.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1A is a schematic diagram of an electromechanical actuator in
accordance with the present invention.
FIG. 1B is a schematic diagram illustrating the actuator of FIG. 1A
in an unenergized condition and maintained under a pretensioning
load.
FIG. 1C is a schematic diagram illustrating the actuator of FIG. 1B
in an energized condition.
FIG. 2 is a schematic diagram illustrating an exemplary manner in
which multiple electromechanical actuators, in accordance with the
subject invention, may be used to provide a peristaltic device.
FIG. 3 is a schematic diagram illustrating an electromechanical
actuator, in accordance with the subject invention, employed as a
valve.
FIG. 4 is a schematic diagram illustrating how an electromechanical
actuator, in accordance with the subject invention, may be employed
as a "muscle" for prosthetic devices.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
Referring now to FIG. 1 of the drawings, a ferrofluidic solenoid in
accordance with the present invention essentially includes a coil
10, a ferromagnetic fluid 12 and an elastomeric capsule 14. As
shown, both the coil 10 and the ferromagnetic fluid 12 are
contained within the capsule 14.
The coil 10 may be of any conventional and well known type and may
either be encased or exposed. The coil 10 is connected to receive
electrical current via a pair of terminal wires 16 and 18 which are
appropriately extended through the wall of the capsule 14. The
terminal wires 16 and 18 are preferably looped, as shown at 20 and
22, within the capsule 14 to prevent breakage when the capsule 14
is deformed in a manner to be described hereinafter.
The ferromagnetic fluid 12 is preferably a colloidal,
non-flocculating, suspension of high permeability particles in an
inert liquid. Such a ferromagnetic fluid 12 is marketed by
Ferrofluidics Corp., Burlington, Massachusetts. It is to be
understood that although the above-described ferromagnetic fluid is
preferred, any other appropriate medium such as a mixture of
particulate material may be used.
The elastomeric capsule 14 may be a moderately elongated hollow
shell having a closed wall as shown. The capsule is sized to permit
enclosure of the fluid 12 and the coil 10 which is roughly centered
within the capsule. Any appropriate and well known elastomeric
material may be used.
As shown in FIG. 1A, a pair of end arms 24 and 26, or other
mechanical connections, are attached to the respective ends 28 and
30 of the capsule 14. These end arms 24 and 26 may be attached to
the respective ends 28 and 30 in any well known manner, and may be
stiff or flexible as necessary to accommodate the particular use of
the solenoid.
Operationally, the net force and stroke produced by the
ferrofluidic solenoid are dependent on a complex relation of
elastic, hydrostatic and magnetic effects. Application of current
to the coil 10 results in an effective pressure increase in the
fluid 12. If this pressure is considered to be transmitted
hydrostatically through the fluid 12, the elastomeric capsule 14
expands in diameter and contracts in length analogously to blowing
up a toy balloon. This deformation of the capsule 14 is illustrated
by FIG. 1C showing a substantially spherical shape.
As an example, the capsule 14 may be maintained under a
pretensioning load as illustrated by FIG. 1B. The end arms 24 and
26 are useful for this purpose. As shown, such a pretensioning load
will cause the capsule 14 to be longitudinally expanded. This may
be accomplished, for example, by having one of the end arms 24
mechanically grounded by connection to an effectively stationary
object 32. The opposing end arm 26 may then be pulled away from the
stationary end 28 to have the longitudinal dimension of the capsule
14 increased.
Referring again to FIG. 1C, energization of the coil 10 by
application of electrical current to the terminal wires 16 and 18
creates a magnetic field, the flux lines of which are generally
illustrated by the dotted lines within the capsule 14. The magnetic
field operates to, in effect, redistribute the magnetic fluid 12
within the capsule 14 to thereby deform the shape of the capsule
14. As shown this deformation of the capsule 14 is characterized by
having the ends 28 and 30 thereof withdrawn and the central wall
area protruded, i.e., axial compression and radial expansion.
Simply considered, the stronger the magnetic field created by the
current 10, the more pronounced will be the deformation of the
capsule 14. The strength of the magnetic field is, of course,
dependent on the amount of current applied to the coil 10 via the
terminals 16 and 18. Accordingly, the ferrofluidic solenoid of the
present invention may act as a current-to-motion transducer in that
an increased application of current will produce a corresponding
larger displacement of the end 30 with respect to the end 28. In
the alternative, the ferrofluidic solenoid may be viewed as a
current-to-force transducer in that the increased application of
current will produce larger forces at the ends 28 and 30.
Considering the subject solenoid in greater detail, the following
assumptions are made: the elastomer is considered to be Gaussian,
anisotropic, in the non-crystalline extension range
(X<.about.4), a right circular cylindrical shell, and of
constant volume (X.sub.1 X.sub.2 X.sub.3 = 1); and the fluid 12 is
assumed to be homogeneous and incompressible.
Considering the contribution of the capsule 14 to solenoid
operation, the extension of an elastomer sheet under biaxial
tensile stresses, S.sub.1 and S.sub.2, is described by the
equation:
S.sub.1 - S.sub.2 = G(X.sub.1.sup.2 -X.sub.2.sup.2) Eq. 1
where X.sub.1 and X.sub.2 are the extension ratios and G is an
elastic modulus derived from the free energy of the elastomer:
G = N.sub.c kT = .rho.R.sub.g T/M.sub.c Eq. 2
where N.sub.c is the number of polymer chains per unit volume, K is
Boltzmann's constant, T is absolute temperature, .rho. is the mass
density, M.sub.c is the chain molecular weight (between
crosslinks), and R.sub.g is the gas constant.
For a section of this cylindrical shell, the longitudinal stress
S.sub.1 (directed between the ends 28 and 30) is the sum of the
longitudinal pressure stress and imposed tensile stress:
S.sub.1 = PR/2t + F/2.pi.Rt Eq. 3
The orthogonal tangential stress is the shell hoop stress:
S.sub.2 = PR/t Eq. 4
The operating solenoid has an internal pressure, P, the sum of the
initial pressure, P.sub.I, and magnetic pressure, P.sub.M, and is
under initial plus final tensile loads, F.sub.I and F.sub.F.
Because of the expansible nature of the shell wall, the unstressed
unit length, L.sub.o, radius, R.sub.o, and thickness, t.sub.o, are
multiplied by the extension/compression ratios X.sub.1, X.sub.2,
and X.sub.3, respectively, to define initial parameters, i.e.,
L.sub.I = L.sub.o X.sub.1, R.sub.I = R.sub.o X.sub.2, and t.sub.I =
t.sub.o X.sub.3. The solenoid "on" condition is then described by
the equation:
(F.sub.1 + F.sub.F)/.pi.X.sub.2 R.sub.o - (P.sub.I +
P.sub.M)R.sub.o X.sub.2 = 2X.sub.3 t.sub.o G(X.sub.1.sup.2 -
X.sub.2.sup.2) Eq. 5
Next considering the contribution of the ferrofluid 12 to solenoid
operation, the Bernoulli equation for a ferromagnetic fluid
includes a term for a scalar magnetic pressure: ##SPC1##
where .mu..sub.o is the permeability of free space, M is the exact
magnetization, M is the mean magnetization, and H is the magnetic
field intensity. M has the asymptotes x.sub.i H/2 for very small
fields and saturation magnetization M.sub.s ; both M.sub.s and
x.sub.i, the initial susceptibility, are characteristic of the
particular ferrofluid (typically 125<M.sub.s <1,000 gauss;
0<x.sub.i <4).
The field intensity H is the quotient of the flux density B and the
relative permeability. The flux density B at any section, j, in
turn, is dependent on the total flux .phi. in the magnetic circuit,
i.e.,
B.sub.j = .phi./A.sub.j Eq. 7 ##SPC2##
where N is the number of turns in the coil, I is the current,
1.sub.j is the incremental circuit length, and A.sub.j is the area
along 1.sub.j. Hence it is seen that the magnetic pressure is not
constant, but varies with the cross-section of the magnetic flux
path, and in addition, with distance from the coil, in very large
diameter solenoids.
The simplest case neglects end effects and assumes that the flux
area A.sub.c outside the coil is equal to that inside. Then, for a
coil length 1.sub.c :
.phi. = 0.2.pi..mu.NIA.sub.c /1.sub.c Eq. 9
and H = 0.2.pi.NI/1.sub.c Eq. 10
The magnetic pressure is then:
P.sub.m = 0.2.pi..mu. M N I/1.sub.c Eq. 11
The axial extension ratio, X.sub.1, could be divided into
components for the linear stretching due to initial preload
(X.sub.1I <1) and for contraction resulting from radial
expansion (X.sub.IF <1) in the absence of preload; the output
stroke length is the sum of these components. A similar but inverse
relation exists for X.sub.2 and stroke length. The following
special cases are for unity ratios with respect to the unstressed
state only; the actual "zero stroke" conditions are more
complex.
The maximum output stroke is obtainable when the radial extension
radio, X.sub.2, is unity. Equation (5) then becomes:
(F.sub.I + F.sub.F) X.sub.1 /.pi.R.sub.o - (P.sub.I + P.sub.M)
R.sub.o X.sub.1 = 2t.sub.o G(X.sub.1.sup.2 - 1) Eq. 12
In the absence of preload tension, F.sub.I, and pressure, P.sub.I,
the force output is:
F.sub.F = 2.pi.R.sub.o t.sub.o G(X.sub.1 - 1/X.sub.1 ) +
.pi.R.sub.o.sup.2 P.sub.M X.sub.1 Eq. 13
A similar calculation for zero stroke length, X.sub.1 = 1, gives
the force output:
F.sub.F = 2.pi.R.sub.o t.sub.o G(1 - X.sub.2.sup.2) +
.pi.R.sub.o.sup.2 P.sub.M X.sub.2.sup.2 Eq. 14
For comparison, the maximum force produced by a conventional
solenoid is:
F.sub.MAX = C A.sub.c NI/1.sub.c Eq. 15
where C is a pull coefficient of about 0.01 and the other
quantities are as previously defined.
The "off" condition of the ferrofluidic solenoid is described by
F.sub.F = 0 and P.sub.M = 0. Assuming the unstressed filled capsule
to be at ambient pressure, this is equivalent to a uniaxially
stressed tube, such that equation (5) reduces to:
X.sub.1 /.pi.R.sub.o F.sub.I - P.sub.I R.sub.o = 2t.sub.o
G(X.sub.1.sup.2 - 1/X.sub.1) Eq. 16
If the preload tension, F.sub.I, is released, the remaining
internal pressure declines, and X.sub.1 approaches 1. Thus the
isolated solenoid requires no external return spring, as do
conventional solenoids.
As may be apparent from the P.sub.M -H relation in equation (6),
the assumption that pressure within the capsule 14 is hydrostatic
and uniform is an over-simplification. The magnetic pressure is
maximum at the section of the magnetic circuit with least area,
whether within the core area of the coil 10 or the annulus area
surrounding the coil 10. This pressure is superimposed on any
pre-existing hydrostatic pressure. So long as the fluid 12 is not
appreciably saturated, all the flux is contained by the fluid 12,
and there will be a minimum field intensity at the extreme ends of
the capsule 14. The "on" configuration of the capsule 14 is not
spherical, as if hydrostatically inflated, but is apple-shaped or
toroidal, due to the tendency of the fluid to follow the lines of
flux.
As the magnetic fluid 12 approaches magnetic saturation, an
increasing proportion of the flux will be forced into the space
surrounding the capsule 14. This results in a lessening rate of
increase in magnetic pressure, but should cause an additional
traction force to be exerted across the capsule end interface,
equivalent to an exterior pressure:
P' = .mu..sub.o /2 M.sub.n.sup.2 Eq. 17
From the foregoing discussion it is clear that the subject
ferrofluidic solenoid has several advantages over conventional
solenoids and over prior art electromechanical actuators using a
ferromagnetic fluid. Among these advantages are the elimination of
the conventional air gap which results in greater efficiency of
operation. Also, magnetic flux leakage is minimal up to the fluid
saturation level since the coil 10 is completely surrounded by the
magnetically permeable material in the fluid 12. Further, the
simplicity and compactness of the subject invention permits the
device to be economically manufactured and readily employed, or
staged, in multples or in tandem.
Referring to FIG. 2, an exemplary peristaltic device is illustrated
as including three solenoids 34, 36 and 38 connected in tandem. In
operation, an end solenoid 38 may be connected to a cable 40 to be
pulled through a conduit 42. The solenoids 34, 36 and 38 may then
be serially energized and then serially de-energized commencing
with the leading solenoid 34. The radial expansion of the leading
solenoid 34 will cause the central portion 44 of the capsule wall
to be forced against the interior surface of the conduit 42 to
effectively anchor the leading end of the peristaltic device.
Energization of each successive solenoid, i.e., solenoid 36 and
then solenoid 38, will cause the cable 40 to be pulled through the
conduit 42 for a distance equal to the summed work strokes of the
solenoids 36 and 38. The dotted lines in FIG. 2 illustrate the
movement produced after energization of the first two solenoids 34
and 36. Upon all of the solenoids connected in tandem being
energized, the leading solenoid 34 is de-energized, followed by the
de-energization of each successive solenoid. Clearly, this results
in the string of solenoids being extended for their full ambient
length whereupon the solenoids can again be successively energized.
In the de-energization cycle, the trailing solenoid 38 anchors the
trailing end of the peristaltic device to permit the desired inward
extension of the preceding solenoids 34 and 36. It is to be
understood that any practical number of solenoids may be staged
despite the foregoing example involving only three solenoids.
Referring to FIG. 3, a ferrofluidic solenoid in accordance with the
present invention may be used as a valve. As shown, a solenoid 46
can be situated within a fluid conducting conduit 48. The ends 50
and 52 of the solenoid 46 may be appropriately supported by a pair
of supporting rings 54 and 56, respectively, which are secured
within the conduit 48. As may be appreciated, the end connectors 50
and 52 may be somewhat flexible to permit easy axial compression of
the solenoid 46 and thereby not significantly impede the radial
expansion thereof upon energization. Again, the dotted lines in
FIG. 3, illustrate the solenoid 46, when energized. As shown, the
energized solenoid 46 serves to completely block the inner passage
of the conduit 48 such that the flow of fluid through the conduit
48 is stopped.
In yet another exemplary application, the ferrofluidic solenoid of
the present invention may be used as a "muscle", or the like, for
prosthetic devices. As shown by FIG. 4, a solenoid 58 can be
connected between a pair of pivotally connected sections 60 and 62
to produce a "closing" motion when energized. De-energization of
the solenoid 58 would then produce a spreading or "opening"
movement of the respective sections 60 and 62.
It is to be noted that each of the applications illustrated by
FIGS. 2, 3 and 4 are exemplary and that for simplicity of
illustration, the two electrical connectors for the respective
solenoids have not been shown. However, it is clear that such
electrical connectors may be connected to the coils of the
respective solenoids in any suitable manner and collectively
situated to permit the application of current thereto.
From the foregoing description, it is now clear that the present
invention provides an improved ferrofluidic solenoid that is
compact and simple of construction and which is characterized by a
lack of significant magnetic leakage. It is also apparent that the
subject solenoid may be readily used to form tandem stages and is
readily applicable to a multitude of different uses.
While a preferred embodiment of the present invention has been
described hereinabove, it is intended that all matter contained in
the above description and shown in the accompanying drawings be
interpreted as illustrative and not in a limiting sense and that
all modifications, constructions and arrangements which fall within
the scope and spirit of the invention may be made.
* * * * *