A precision micropositioning system with a high displacement resolution and wide
motion range has been required for industrialized applications for a long time. This paper discusses
the design and the characteristics of a new piezodriven precision micropositioning stage utilizing
flexure hinges. Two-grade amplifying and a monolithic symmetrical mechanism are adopted in the
design. An analytical model is presented and a series of formulae for the static and dynamic
behaviour of the stage are derived. Based on the theoretical analysis, the optimum design schema is
put forward. The experimental demonstration to study the performance of the stage is described, and
the method for reducing nonlinearity errors is proposed. The experimental results are in close
agreement with those predicted by the theoretical analysis.
High-performance actuation is always desirable in a
dexterous high-precision manipulation system. In this paper, we
first develop a single-degree-of-freedom piezoelectric
translator composed of a piezoelectric stack, a monolithic leaf
spring and a preload mechanism. The displacement resolution
reached by this translator is better than 10 nm, while its
natural frequency is over 2 kHz. Based on the developed
piezoelectric translator, a micro-manipulator is then designed,
which is capable of producing micro-motions in six
degrees of freedom. The design characteristics and kinematics of
this micro-manipulator are investigated. An effective kinematic
model used for the real-time control is presented, and the
operation performance of the micro-manipulator is discussed
further.
Underwater Robotic Vehicles (URVs), generally, consist of two main classes, namely the Remotely Operated Vehicles (ROVs) and the Autonomous Underwater Vehicles (AUVs). ~ I n this paper, a simplified model of a thruster and a general equation of rigid body motion for an underactuated ROV am presented. Then the nonlinear and coupling effects on the ROV, from its shape and design, are derived and presented. Lastly, the steadystate nonlinear behaviour of the thrusters observed are used to design and develop a simple PID controller. Simulation results obtained demonstrated the capability of the controller in the regulating of the desired amount of thrust while maintaining a relatively small degree of steadystate error. 0-7803-7398-7/02/$17.00 02002 IEEE
How to improve head-disk interface (HDI) characteristics in the mechanical design of hard-disk drives (HDDs) has become increasingly important due to the ever-growing demand for storage density and speed of access. In this paper, a means of active actuation and control of the suspension structure in HDDs is investigated and it is used to reduce head-disk friction/wear and to suppress induced vibrations. The analytical model for a cantilever-beam-like structure with the bonded piezo films is presented. A constant-gain velocity feedback control is proposed and its effectiveness in suppressing induced vibrations is demonstrated both theoretically and experimentally.
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