Design, Modeling, Characterization and Control of Novel Rotary Pumps

Abstract

This dissertation presents a model informed design methodology to evaluate and refine innovative hydraulic pump concepts. This methodology is demonstrated on three very different applications: 1) industrial and mobile hydraulics, 2) mechanical circulatory support (MCS) device and as an artificial heart, and 3) soft robot actuation method. The innovation in each of the devices discussed is evaluated with dynamic models that capture the pertinent features and metrics of each device and its application requirements, respectively. These challenging applications with unique performance requirements demand innovative solutions. Specifically, a variable displacement hydraulic pump should operate efficiently across various operating conditions and displacements and prefers a compact pancake size to allow easy common-shaft mount for multi-actuator displacement control system. A mechanical circulatory support device requires to be compact to fit into a patient’s chest while also able to generate enough blood flow, preferably pulsatile flow, with minimum damage to blood. A power supply unit for soft robots needs to be energy dense and efficient to be integrated into the robotic structure compactly and with a high bandwidth to allow fast control response. Therefore, the goal of the work described herein is to develop and apply innovative rotary pumping platforms 1) to power industrial actuator units efficiently and compactly across a wide range of operating conditions, 2) to pump blood for human body with less damage onto blood cells thus reducing related complications, and 3) to supply power for soft robots within a closed compact system accurately and efficiently. All three of these distinctly different applications with their systematic modeling approach, model informed design method, fabrication and experimental tests of innovative rotary prototype pumps are presented.