Piezoelectric bimorphs have been used as a micro-gripper in many applications, but the system might be complex and the response performance might not have been fully characterized. In this study the dynamic characteristics of bending piezoelectric bimorphs actuators were theoretically and experimentally investigated for micro-gripping applications in terms of deflection along the length, transient response, and frequency response with varying driving voltages and driving signals. In addition, the implementation of a parallel micro-gripper using bending piezoelectric bimorphs was presented. Both fingers were actuated separately to perform mini object handling. The bending piezoelectric bimorphs were fixed as cantilevers and individually driven using a high voltage amplifier and the bimorph deflection was measured using a non contact proximity sensor attached at the tip of one finger. The micro-gripper could perform precise micro-manipulation tasks and could handle objects down to 50 µm in size. This eliminates the need for external actuator extension of the microgripper as the grasping action was achieved directly with the piezoelectric bimorph, thus minimizing the weight and the complexity of the micro-gripper.

No abstract

Construction of test benches for the experimental measurement of the parameters of the dynamic model of Drones -UAS (Unmanned Aerial System)An option for the automatic control of mechanical devices is to obtain the parameters that make up the equation that describes their movement. This is why, under the approach of the Newton-Euler dynamic model applied to drones of maximum 25 kg, it is necessary to determine the inertial parameters for the complete system such as mass, dimensions, center of gravity and moments of inertia, as well as parameters of friction for brushless motors such as thrust force, drag torque and angular velocity.In the present work, the design and construction of test benches that allow the measurement of the parameters of the dynamic model of drones is carried out, starting from the identification of the parameter to be measured, devising a measurement mechanism that is viable from the constructive, functional and economic point of view. The designs are designed with the premise that the tests or measurements are replicable and offer reliable results with the accuracy required at a low maintenance cost. Additionally, for the friction parameter measurement benches, a data acquisition system is implemented under a work environment designed in MATLAB AppDesigner, which allows semiautomatic determination of the relationship equation between angular velocity vs. thrust and angular velocity vs. drag torque for brushless motors using regression.

No abstract

No abstract