Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 23, Issue 4, Pages 1843-1853Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2840682
Keywords
Magnetic resonance imaging; pneumatic actuators; rapid prototyping
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In this paper, we show that magnetic resonance (MR) safe pneumatic stepper motors can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, metal-free, and fully customizable. Besides MR safe robotic systems, other potential applications include high-voltage switchgear and nuclear power plant systems, which also restrict electric actuation. In addition, it can be applied to other actuation systems, where pressurized air is available, and lightweight rapid prototypeable actuators are needed. Five pneumatically driven linear and rotational stepper motors have been developed with forces up to 330 N, torques up to 3.7 N.m, the stepping frequency up to 320 Hz, dimensions ranging from 25 to 80 mm, free of backlash, and power up to 26 W. All five motors are constructed from six 3-D printed parts and four seals, held together by nylon screws or clips. The described stepper motors outperform state-of-the-art plastic pneumatic stepper motor designs, both in specifications and in manufacturability.
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