The design of a mobile microrobot based on standing and travelling waves is proposed and analysed in this paper. Numerical modelling based on the finite element method is performed to find the resonant frequencies and modal shapes of a microrobot, and to calculate the trajectories of the upper pointsʹ movements under an excitation scheme. Geometric Path‐Planning Algorithms for a piezoelectric hemispheric microrobot and an experimental study of this are presented in this paper
A novel design concept of multi-degree-of-freedom (multi-DOF) piezoelectric actuator is introduced in the paper. The main idea is to connect two identical piezoelectric transducers by hyperelastic material in order to increase the total number of degrees-of-freedom of the system. Such design principle also allows to separate vibrations of two piezoelectric transducers and to control them independently. The ring- and cylinder-type piezoelectric transducers were used to design two multi-DOF ultrasonic actuators for precise laser beam positioning. Reflecting mirror is mounted on the top of the actuator and is preloaded by magnetic force. Both disc- and cylinder-type actuators can realize up to six degrees-of-freedom, i.e., to rotate the mirror about three axes employing one transducer and to position mirror in the plane by using another transducer. Bidirectional rotation and translation motion of the mirror are obtained by switching excitation signals between different electrodes of the transducers. Both the numerical simulation and physical prototype were used to verify operating principle of the actuators. Numerical investigation of the piezoelectric actuator was performed to investigate modal-frequency and harmonic response analysis while experimental study was performed to measure electrical and mechanical output characteristics of the piezoelectric actuator. A mathematical model of contacting force control was proposed, and numerical verification was performed when the mirror need to be rotated according to the specific motion trajectory.
This paper analyses the movement of piezoelectric actuator. The goal of this work was to create an algorithm for trajectory planning of piezorobot, create a system for trajectory control, develop software and verify the functioning of the algorithm in practice. Movements of piezorobot are very small and very frequent therefore it is difficult to measure trajectories using standard equipment. Design of a novel measurement system and trajectory adjustment was created in this paper. An experimental system for control and trajectory movement tracking of piezorobot was developed. It consists of cylindrical piezorobot, control signal forming and image processing system for trajectory tracking. The cylindrical piezorobot moves in specific trajectories on the plane and is controlled with sinusoidal signals. They are generated by trajectory forming and control software using MATLAB and LabVIEW. The control signals are monitored using a system with oscilloscope. The trajectory of piezorobot was monitored and measured using video camera and video processing software developed by LabVIEW. The software contains image processing and object path tracking, and is implemented using LabVEW and MATLAB. Experimental results showed that trajectories forming algorithm and developed control software is suitable for controlling robots moving on plane.
his paper presents method for trajectory planning of mobile piezorobots. An algorithm for evaluation of motion trajectory for this kind of robots, describing point-to-point motion by means of the given function is presented. Preliminary experimental results prove the feasibility of proposed mathematical model.
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