Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 4, Pages 2059-2070Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3031258
Keywords
Legged locomotion; Piezoelectric actuators; Friction; Force; Bending; Ceramics; Bionic quadruped actuator; combining actuation modes; large travel range; nanopositioning platform; operating principle
Categories
Funding
- National Natural Science Foundation of China [U1913215]
- Foundation for Innovative Research Groups of the National Natural Science Foundation of China [51521003]
Ask authors/readers for more resources
A piezoelectric platform driven by a bionic quadruped piezoelectric actuator has been developed, utilizing a combination of bionic walking and swinging actuation modes to achieve nanopositioning in a large travel range. Through open-loop and closed-loop experiments, the effectiveness of the method in enhancing positioning precision and travel range has been confirmed.
A piezoelectric platform driven by a bionic quadruped piezoelectric actuator is developed. It uses the operating principle of combining bionic walking and swinging actuation modes to achieve nanopositioning in a large travel range. The mechanical structure is introduced, the operation principle is illustrated, and the dynamic model and control method are developed. The open-loop performances are first tested to verify the effectiveness of the operating principle and the dynamic model, and the simulation results agree well with the experimental results. Then, the closed-loop experiments in bionic walking and swinging actuation modes are carried out, respectively, and the controllers are designed based on the dynamic model. In the point-to-point positioning control experiments, the steady-state errors for the target position of +/- 1000 mu m in axes X and Y are within +/- 1 mu m in bionic walking actuation mode, and they are within +/- 20 nm for the target position of +/- 2 mu m in bionic swinging actuation mode. The closed-loop experiments under the combination of the bionic walking actuation mode and swinging actuation mode are performed, and a switched controller is developed to obtain the switching of the two modes automatically; the steady-state errors are within +/- 20 nm. The experimental results confirm that the method combining bionic walking and swinging actuation modes and switched control is valid in enhancing the positioning precision and travel range for the nanopositioning platform.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available