Energy harvesting by a origami mechanism doctoral thesis major mechanical

國立中興大學精密工程研究所 博士學位論文 一個基於摺紙結構的能量擷取器 Energy harvesting by a origami mechanism 指導教授：王東安 Dung-An Wang 研 究 生 ：吾進黃 Ngo Tien Hoang 中華民國一百零九年七月 ACKNOWLEDGEMENTS First and foremost, I would like to send my deeply gratitude to National Chung Hsing University, Taiwan for providing me this valuable scholarship for Ph.D degree and Ho Chi Minh University of Technology and Education, Vietnam for supporting me in the researches I would like to thank my advisor Prof Dung-An Wang for his guidance, support and encouragement He has mentored, taught and inspired me in my academic as well as personal life I express my gratitude for the education that I have received from him I would like to acknowledge the help of my fellow Vietnamese and Taiwanese labmates for their feedback, cooperation and of course friendship In addition, I would like to express my gratitude to the staff of Graduate Institute of Precision Engineering for the last minute favor Finally, I would like to thank my friends for accepting nothing less than excellent from me Last but not the least; I am very grateful to my parents, my sister, my brother and my wife for their love, for supporting me spiritually throughout writing this thesis and encouragement of my academic pursuits, and for always expressing confidence in my abilities i Graduate Institute of Precision Engineering, National Chung Hsing University Doctor of Philosophy Energy harvesting by a origami mechanism ABSTRACT Origami-inspired structure and materials have shown extraordinary properties and performances because of their capability to scavenge energy However, most of the art studies focused on static and quasistatic characteristics This research describes a comprehensive experimental on the dynamics of origami folding through investigating a waterboomb structure with bistability for energy harvesting The equivalent buckled spring mass system allows the energy of dynamic mass to be converted into electrical energy in the PVDF film A bistable origami prototype with rigid panels and flexible crease lines is designed and experimentally investigated The assembly of origami prototype with PVDF attached for energy harvesting experiment is carried out The force-displacement experiment is performed to verify the bistable behavior The origami mechanism generates rich dynamics including sub-harmonic and chaotic oscillations The dynamic experiment for harvesting voltage and power is developed The effect of the electric load impedance matching strategy is also studied Keywords: Origami, Bistable, Energy harvesting ii TABLE OF CONTENTS ACKNOWLEDGEMENTS .i ABSTRACT ii TABLE OF CONTENTS iii LIST OF FIGURES vi LIST OF TABLES ix LIST OF ABBREVIATION AND SYMBOLS x CHAPTER LITERATURE REVIEW .1 1.1 Applications of origami structures in engineering 1.1.1 Application of small scale 1.1.2 Application of middle scale 1.1.3 Application of large scale 1.2 Materials for origami inspired structures 1.2.1 Panel and hinge systems 1.2.2 Composite systems 1.2.3 Homogeneous material systems 1.3 Methods for fabrication and deployment CHAPTER INTRODUCTION 12 2.1 Motivation 12 2.2 Contribution 13 2.3 Organization 13 CHAPTER DESIGN CONCEPT 15 3.1 Conceptual design 15 3.2 Operation principles 16 CHAPTER DEVICE FABRICATION 22 iii 4.1 Manufacturing processes 22 4.2 Origami assemblage 23 4.3 Components for static experiment .23 4.4 Components for dynamic experiment 23 CHAPTER FORCE-DISPLACEMNT EXPERIMENT .33 5.1 Experiment 33 5.2 Results 34 CHAPTER DYNAMIC EXPERIMENTS 41 6.1 Control constant acceleration amplitude 41 6.2 Frequency response 41 6.2.1 Experimental setup 41 6.2.2 Results 43 6.3 Voltage 43 6.3.1 Experimental setup 43 6.3.2 Results 44 6.4 Power 44 6.4.1 Experimental setup 44 6.4.2 Results 45 CHAPTER CONCLUSIONS AND FUTURE WORKS 59 7.1 Conclusions 59 7.2 Future works 59 References 61 Publications during Ph.D studies 68 iv LIST OF FIGURES Fig 3.1 A schematic of background idea (a) Original configuration (b) Folded configuration 17 Fig 3.2 Examples of origami structure 17 Fig 3.3 Waterbomb type origami structure (a) An origami at the first equilibrium position (b) An origami at the second equilibrium position 18 Fig 3.4 Origami fold pattern 18 Fig 3.5 Examples of pattern of OM 19 Fig 3.6 An OM can be viewed as a spherical bar change-point mechanism 19 Fig 3.7 A schematic of origami mechanism for energy harvesting (a) The first stable position and (b) The second stable position 20 Fig 3.8 An explanation of bistability using the ball on a hill analogy 20 Fig 3.9 A typical f-d curve of an OM 21 Fig 3.10 Dimension of OM including PVDF film 21 Fig 4.1 A laser cutting process of OM (a) Experimental setup (b) The origami prototype 26 Fig 4.2 A laser cutting process of PVDF panels (a) Experimental setup (b) The fabricated PVDF film 26 Fig 4.3 A process of origami assembly for static and dynamic testing 27 Fig 4.4 An exploded view of fabricated fixture for static testing .28 Fig 4.5 A photo of components for static testing 28 Fig 4.6 Dimension of the substrate for static testing 29 Fig 4.7 Dimension of the base support for static testing 29 Fig 4.8 An exploded view of fabricated fixtures for dynamic testing 30 Fig 4.9 A photo of fabricated components for dynamic testing 30 Fig 4.10 Dimension of the block support 31 Fig 4.11 Dimension of the bearing holder 31 Fig 4.12 Dimension of the base 32 Fig 4.13 Dimension of the connector 32 Fig 4.14 Dimension of the rod 32 Fig 5.1 Experimental setup for f-d characterization of the OM 35 v Fig 5.2 An exploded view of f-d experimental setup 36 Fig 5.3 Switch configurations 37 Fig 5.4 The process of “Zero” adjustment 37 Fig 5.5 A process of “Span” adjustment 38 Fig 5.6 A console of controlling f-d experiment after calibration .38 Fig 5.7 A setup of linear guideways for f-d testing 39 Fig 5.8 A block diagram of f-d experiment 39 Fig 5.9 The f-d curve results of five times testing 40 Fig 5.10 The average result of f-d experiment with error bar 40 Fig 6.1 An experimental setup of controlling constant acceleration amplitude 47 Fig 6.2 An “ArbConnection” software for controlling function generator 47 Fig 6.3 A block diagram of experiment of controlling constant acceleration amplitude 48 Fig 6.4 A flowchart of experiment of controlling constant acceleration amplitude 48 Fig 6.5 An experimental setup of frequency response testing of the device 49 Fig 6.6 A block diagram of the position sensing of the device and feedback loop for frequency sweep experiment 49 Fig 6.7 The software of calibrating analog output scaling 50 Fig 6.8 A console of frequency response experiment in “Auto” mode 50 Fig 6.9 A flowchart of frequency sweep experiment in “Auto” mode 51 Fig 6.10 Frequency response of the OM with different excitation (a) 0.1 g , (b) 0.4 g and (c) 0.6 g .52 Fig 6.11 An experimental setup of voltage output testing 53 Fig 6.12 A block diagram of voltage output experiment 53 Fig 6.13 A console of obtaining voltage output in “Auto” mode 54 Fig 6.14 Experimental harvested voltage with different excitation (a) 0.1 g , (b) 0.4 g and (c) 0.6 g .55 Fig 6.15 An experimental setup of harvested power with impedance matching strategy 56 Fig 6.16 A block diagram of harvested power experiment .56 Fig 6.17 A console of obtaining harvested power 57 vi Fig 6.18 Experimental harvested power with impedance matching strategies for different acceleration amplitude (a) 0.1 g , (b) 0.4 g and (c) 0.6 g 58 vii LIST OF TABLES Table 4.1 Parameters of laser cutter for PEEK1000 25 Table 4.1 Parameters of laser cutter for PVDF 25 Table 6.1 Parameters of laser cutter for PVDF 46 viii Fig 4.3 A process of origami assembly for static and dynamic testing 27 Fig 4.4 An exploded view of fabricated fixture for static testing Fig 4.5 A photo of components for static testing 28 Fig 4.6 Dimension of the substrate for static testing Fig 4.7 Dimension of the base support for static testing 29 Fig 4.8 An exploded view of fabricated fixtures for dynamic testing Fig 4.9 A photo of fabricated components for dynamic testing 30 Fig 4.10 Dimension of the block support Fig 4.11 Dimension of the bearing holder 31 Fig 4.12 Dimension of the base Fig 4.13 Dimension of the connector Fig 4.14 Dimension of the rod 32 Chapter FORCE-DISPLACEMNT EXPERIMENT 5.1 Experiment In order to obtain the f-d curve of the fabricated device, an experiment setup is introduced in the Fig 5.1 The system has an OM, a load cell, a linear guideway, a translation stage and the fixture The load cell (LSB200, FUTEK Advanced Sensor Technology, Inc, USA) mounted on fixture to measure the force of OM A small magnet is installed to connect the probe and the rod of origami assembly The translation stage is used to adjust the center of OM assemblage such that the load cell properly aligns with OM The f-d curve of the origami during forward motion (S1 to S2) and backward motion (S2 to S1) was measured using the experimental setup shown in Fig 5.1 (a) and (b), respectively In addition, the first and second equilibrium position were also depicted in Fig 5.1 (a) and (b) An exploded view of force-displacement experimental setup is depicted in Fig 5.2 Each component in experimental setup was described in the section 4.3 and 4.4 of chapter Before operating the linear guideway, the load cell will be calibrated in advance because the noise generated from linear guideway affect the sensitivity of load cell An analog amplifier IAA100 with voltage output is used to configure the load cell, see Fig 5.3 (a) The switch configuration is set as shown in the Fig 5.3 (b) for this capacity 2lb (approximately 0.8N) of the load cell The process of calibration of load cell was introduced in Fig 5.4 and Fig 5.5 A console Labview was created to interface with load cell (see Fig 5.4 (a)) First, adjust the “Zero” function by using the tool to turn clockwise or counter-clockwise (see Fig 5.4 (b)), following the indicator in the console as shown in Fig 5.4 (c) When the value reaches to 0.000 V, the switch “Zero” will automatically turn on as shown in Fig 5.4 (d) In the Fig 5.5 (a), after adjusting the “Zero” function, the console change to adjust “Shunt” function The process of adjusting the “Shunt” function can be described using the following step  Step 1: Press the “Shunt” pushbutton (see Fig 5.5 (b)) 33  Step 2: while the shunt is enabled and the IAA100 is reading the simulated load, use the tool to turn clockwise or counter clockwise to adjust the resistor (“Span”) of IAA100 This process is present in the Fig 5.5 (c)  Step 3: When the value achieves 0.515 V, the switch “Shunt” will automatically turn on and the processes of calibration load cell are finished (see Fig 5.5 (d)) For this experiment, the total time for one testing is set at seconds with the continuous mode presented in the Fig 5.6 The displacement of the OM was read from the linear guideway (HIWIN ball screw linear guideway FRLS10XX1) The parameters setting are illustrated in the Fig 5.7 First, the OM will be pulled from mm (first equilibrium position) to -4 mm (the hyper elastic deformation), then continuously pushed from -4 mm to mm to complete the bistable behavior The total displacement for this each experiment is 14 mm with the velocity is mm/sec, then the total time can be calculated to equal seconds The experiment was repeated five times and the averaged value of the five experiment was taken Fig 5.8 shows a block diagram of the f-d experiment The NI-USB 9234 was used to read data from load cell 5.2 Results Fig 5.9 shows the f-d curve for forward and backward motion based on 5-time experiments repeatedly The averaged value with error bar of the experiments was shown in the Fig 5.10 As the probe tip pushes the vertex of the OM from S1 to S2, the force increases initially, reaches a maximum value, then decreases to zero, where the origami reaches the unstable equilibrium position U As the probe tip pushes the origami further, it will pull the probe tip and the origami snaps into its second stable equilibrium position S2 The value of f max and f based on experiment are 0.407N and -0.081N, respectively After passing the second peak of the f-d curve, the second stable equilibrium position Q2 is 4.87mm 34 Fig 5.1 Experimental setup for f-d characterization of the OM 35 Fig 5.2 An exploded view of f-d experimental setup 36 Fig 5.3 Switch configurations Fig 5.4 The process of “Zero” adjusment 37 Fig 5.5 A process of “Span” adjustment Fig 5.6 A console of controlling f-d experiment after calibration 38 Fig 5.7 A setup of linear guideways for f-d testing Fig 5.8 A block diagram of f-d experiment 39 Fig 5.9 The f-d curve results of five times testing Fig 5.10 The average result of f-d experiment with error bar 40 Chapter DYNAMIC EXPERIMENTS 6.1 Control constant acceleration amplitude The origami was tested under discrete excitation frequencies from to 20 Hz with frequency sweep rate 0.1 Hz To study the performance of origami harvester, the three different constant accelerations 0.1g, 0.4g and 0.6g were used for dynamic experiments In this section, the experimental setup for obtaining the constant acceleration is illustrated in the Fig 6.1 The whole system consists of a function generator (Tabor electronics, WW5062), a shaker (APS113), a power amplifier (APS125), an acceletrometer (Acceletrometer, 352A24) and an origami An exploded view of the origami system for dynamic experiments was introduced in Fig 4.8 of chapter The function generator was controlled by a free ArbConnection software as shown in Fig 6.2 The sine waveform was used through in the dynamic experiments In this software, the frequency and voltage amplitude signal were used as an input for power amplifier (APS125) to control the shaker (APS113) By changing the frequency and voltage amplitude parameters, the acceletrometer can be able to measure the constant acceleration generated from shaker (APS113) A block diagram and a flowchart for this experiment are shown in Fig 6.3 and Fig 6.4 6.2 Frequency response 6.2.1 Experimental setup Fig 6.5 shows an experimental setup to obtain the vibration amplitude of the OM A function generator WW5062 (Tabor, Israel) supplies the sine/cosine wave signal and transmits to the power amplifier APS125 (APS dynamic, Germany), resulting in driving the shaker We apply harmonic base excitations to the OM prototype in the horizontal direction The vibration amplitude of the OM and the shaker were measured by the two laser displacement sensors LK-H150 (Keyence, Japan) and stored the data to the main controller (LK-G5001V) The NI-USB 9234 was used to read the data from controller and send the data to the computer 41 ... Philosophy Energy harvesting by a origami mechanism ABSTRACT Origami- inspired structure and materials have shown extraordinary properties and performances because of their capability to scavenge energy. .. 1.1.1 Application of small scale The scale of small origami in a centimeter or less can achieve the folding of the structure by taking advantage of material and local flexibility Micro and nano origami. .. functionality published by [43] and others, recently Metamaterials have also become a backbone topic in the origami category because cellular arrays of patterned origami can react in unconventional