APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

Borchert, Gunnar; Burisch, Arne; Raatz, Annika

doi:10.1007/s12541-011-0081-0

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…If an external force F ext acts on the leg in the x-direction at the position z, it creates a bending moment M ext . Knowing (10), a deflection function f d x can be defined using an expression similar to (34), as…”

Section: Single-leg X-dynamicsmentioning

confidence: 99%

“…Improved material properties and manufacturing techniques [46] have led to a variety of designs which can achieve large displacements for moderate voltage levels while retaining a relatively high stiffness. Applications in robotics [42,51,10] and medicine [49,13] are conceivable. Within this trend, modern linear piezoelectric actuators have become a viable alternative to electrodrives in terms of their size, speed and stall force characteristics.…”

Section: Introductionmentioning

confidence: 99%

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Two-dimensional dynamics of a quasi-static legged piezoelectric actuator

Szufnarowski¹,

Schneider²

2012

Smart Mater. Struct.

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Piezoelectric actuators are becoming a viable alternative to electrodrives in terms of size, speed and stall force characteristics. In this paper, a novel dynamic model of a contemporary linear piezoelectric actuator is presented. The model is based on physically meaningful parameters and macroscopically measured data for the fully assembled state. The model describes the frictional interaction between multiple piezoelectric legs and a ceramic rod. It consists of two orthogonal dynamics which are coupled together by means of preload and frictional forces. Linearity of the model is maintained through most of the modelling stages with a clear indication of nonlinear effects due to hysteresis, friction and impact dynamics of the legs. Unknown model parameters are estimated within a global optimization procedure and bounds on parameter values are indicated. The model presented explains the linear drive frequency/velocity as well as the nonlinear load force/velocity characteristics of the actuator within its full operational range. The insights gained throughout the modelling process indicate the possibilities of design improvements. Moreover, the model can be used to explain the resonance phenomena limiting the range of actuator operation and is used to anticipate an alternative drive strategy.

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Section: Single-leg X-dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Two-dimensional dynamics of a quasi-static legged piezoelectric actuator

Szufnarowski¹,

Schneider²

2012

Smart Mater. Struct.

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Mirror design for piezo-driven mechanical devices: Modeling and simulations

Lee

2012

Int. J. Precis. Eng. Manuf.

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Pose measuring and aligning of a micro glass tube and a hole on the micro sphere

Zhang

et al. 2014

Int. J. Precis. Eng. Manuf.

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To ensure high uniformity of the inner space of the hollow sphere after assembly, the glass tube must be inserted into the hole on the sphere towards the center of the sphere. This paper deals with the pose measuring of the hole on the sphere and the glass tube and pose aligning of the two objects. The sphere is 500 mm in diameter with a 20 mm hole on it, and the glass tube is 17 mm in diameter. Novel pose measuring method for the hole on the sphere and the glass tube is developed, using two microscopic cameras, each one acquires a projection vector of the object to be measured. A plane containing the optical axis of the microscopic camera and the pose vector of the object is determined, with the microscopic camera calibrated in advance. Pose vector of the object to be measured can be calculated by the intersection of the two planes acquired by the two microscopic cameras. Error analysis of the pose measuring method is conducted and experimental results were consistent with analytical results. Less than 0.7 o pose aligning error is achieved using the proposed pose measuring method and pose aligning method.

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APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

Cited by 5 publications

References 8 publications

Two-dimensional dynamics of a quasi-static legged piezoelectric actuator

Two-dimensional dynamics of a quasi-static legged piezoelectric actuator

Mirror design for piezo-driven mechanical devices: Modeling and simulations

Pose measuring and aligning of a micro glass tube and a hole on the micro sphere

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