Study of a piezo-electric actuated vibratory micro-robot in stick-slip mode and investigating the design parameters

Jalili, Hadi; Salarieh, Hassan; Vossoughi, Gholamreza

doi:10.1007/s11071-017-3562-6

Cited by 21 publications

(14 citation statements)

References 25 publications

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“…Jalili et al proposed an actuator based on the friction drive principle with two perpendicular vibratory piezoelectric units. Experiment results showed that the maximum mean velocity was about 5.5 mm/sec, and the length of the each step was about 275 nm [36]. In these studies, the vibration of the piezoelectric stacks caused rectangular or elliptical motions at the top of the driving feet.…”

Section: Introductionmentioning

confidence: 73%

Design, Analysis, and Experiment on a Novel Stick-Slip Piezoelectric Actuator with a Lever Mechanism

Huang

Sun

2019

Micromachines

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A piezoelectric actuator using a lever mechanism is designed, fabricated, and tested with the aim of accomplishing long-travel precision linear driving based on the stick-slip principle. The proposed actuator mainly consists of a stator, an adjustment mechanism, a preload mechanism, a base, and a linear guide. The stator design, comprising a piezoelectric stack and a lever mechanism with a long hinge used to increase the displacement of the driving foot, is described. A simplified model of the stator is created. Its design parameters are determined by an analytical model and confirmed using the finite element method. In a series of experiments, a laser displacement sensor is employed to measure the displacement responses of the actuator under the application of different driving signals. The experiment results demonstrate that the velocity of the actuator rises from 0.05 mm/s to 1.8 mm/s with the frequency increasing from 30 Hz to 150 Hz and the voltage increasing from 30 V to 150 V. It is shown that the minimum step distance of the actuator is 0.875 μm. The proposed actuator features large stroke, a simple structure, fast response, and high resolution.

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Section: Introductionmentioning

confidence: 73%

Design, Analysis, and Experiment on a Novel Stick-Slip Piezoelectric Actuator with a Lever Mechanism

Huang

Sun

2019

Micromachines

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“…In recent years, various structures and principles of piezoelectric actuators have been emerged (Nawaz et al, 2022; Victor et al, 2022; Xue et al, 2023). They have a fast response time, simple in construction and can achieve large stroke displacements (Ali et al, 2019; Jalili et al, 2017; Reddy et al, 2021). Depending on the vibration state during operation, piezoelectric actuators can be divided into resonant and non-resonant types (Chen et al, 2023; Wang et al, 2022; Xing et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

A new stick-slip type piezoelectric actuator based on asymmetric diamond-shaped flexure hinge structure

Wang,

Wang

2024

Journal of Intelligent Material Systems and Structures

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A new stick-slip type piezoelectric actuator based on asymmetric structure is proposed. The actuator uses a stator with the asymmetric diamond-shaped structure, and the structure size is determined by finite element simulation. First, the structure and working principle of the proposed actuator are introduced. The elongation deformation of the piezo stack is transferred to the driving tip by the used asymmetric diamond-shaped hinge. This produces a diagonal movement on the driving tip, with the lateral motion used for driving and the longitudinal motion used for pressing the slider, respectively. Then, the statics analysis of the proposed piezoelectric actuator is performed by finite element simulation. The simulated displacements of the driving tip under different structures are obtained, and then the structure size is determined. Finally, an experimental system is established to study the performance of the proposed piezoelectric actuator. The experimental results show that the maximum output velocity of the proposed actuator is 5.26 mm/s. The maximum output force is 1.9N when the locking force is 2N and the drive frequency is 660 Hz.

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“…Some studies were presented in [19][20][21] consider the jumping effect. In this condition, the principle of "stick-slip" motion is not valid, and the motion of the micro-robot is in hybrid mode (stick-slip mode [22] and jumping mode [18]). Unlike the stick-slip mode, the motion in jumping mode is as a result of the forward and backward jumping movements [23].…”

Section: -Introductionmentioning

confidence: 99%

“…In this study, by adding the dynamics model of the piezo-actuators (with respect to that of [18]) and by considering the jumping phenomenon (with respect to that of [22]), a complete dynamics model of the micro-robot motion has been introduced. In the previous study [18], the theoretical concepts of different combinations of perpendicular excitation on the micro-robot's body were analyzed.…”

Section: -Introductionmentioning

confidence: 99%

Investigating the Design Parameters and Simulation of a Piezo-actuated Vibratory Micro-robot in Hybrid Motion

Jalili,

salarieh,

Vossoughi

2023

Preprint

Self Cite

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In this paper, a complete dynamics model of a vibratory micro-robot has been investigated by considering both the dynamics of actuators and jump phenomena. The actuators of this micro-robot are piezo-electric. The main motion mechanism of this micro-robot is based on the principle of the friction drive. But due to the nature of piezo-electric actuators (high frequency), situations sometimes occur where the micro-robot encounters the phenomenon of jumping, and the principle of the friction drive no longer applies. Combining the principle of friction drive with the phenomenon of jumping creates a hybrid dynamic motion, which is called the principle of stick-slip-jump. Modeling and motion simulation based on this principle, adding the dynamic model of piezo-electric actuators, are very complicated, especially when the micro-robot impacts moving substrate. In this research, along with complete modeling of the micro-robot in stick-slip-jump motion and extracting the effective design parameters, the ability to model this complex dynamic for the exact simulation of the micro-robot's behavior has been verified experimentally.

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Study of a piezo-electric actuated vibratory micro-robot in stick-slip mode and investigating the design parameters

Cited by 21 publications

References 25 publications

Design, Analysis, and Experiment on a Novel Stick-Slip Piezoelectric Actuator with a Lever Mechanism

Design, Analysis, and Experiment on a Novel Stick-Slip Piezoelectric Actuator with a Lever Mechanism

A new stick-slip type piezoelectric actuator based on asymmetric diamond-shaped flexure hinge structure

Investigating the Design Parameters and Simulation of a Piezo-actuated Vibratory Micro-robot in Hybrid Motion

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