A Parallel Leaf Spring Structure Driven by Piezoelectric Bimorph Actuators

Abstract

A parallel leaf spring structure driven by a piezoelectric bimorph actuator is mod elled using a Rayleigh-Ritz formulation; model truncation is performed for feedback controller design. Using a strain gauge sensor, a precise positioning of the end point mass is realized. The posi tion of the strain gauge sensor is found to be an important factor in achieving a stable response with an estimator based feedback control system. Excitation of higher structural modes, which becomes an obstacle to a wide servo bandwidth actuator, is discussed. Using multi electrodes arranged on the bimorph actuator, and appropriately tuning the voltage ratio applied to them, pole-zero cancellation of the higher modes is experimentally demonstrated.

Get full access to this article

View all access options for this article.

References

Chiang, W.W. and C.K. Lee. 1989. "Critical Active Damping of a Flexible Slender Plate Using a Distributed Modal Actuator and Sensor" Proc of American Control Conference, Vol. 1989, No. 1.

Clough, R.W. and J. Penzien. 1985. Dynamics of Structures. New York, NY: McGraw-Hill Book Company.

Crawley, E.F. and E.H. Anderson 1990. "Detailed Models of Piezoceramic Actuation of Beams ", Journal of Intelligent Material Systems and Structures , 1(1):4-25

Gevarter, W.B. 1970. "Basic Relations for Control of Flexible Vehicles ", AIAA Journal, 8(4).

Hagood, N.W. , W.H. Chung and A. von Flotow. 1990. "Modelling of Piezoelectric Actuator Dynamics for Active Structural Control", Journal of Intelligent Materials Systems and Structures, 1(3):327-354

Hatamura, Y. 1989. "A Ring Shape 6-Axis Force Sensor and Its Applications ", Proc. of the International Conference on Advanced Mechatronics.

Hollis, R.L. 1985. "A Fine Positioning Device for Enhancing Robot Precision ", Robots 9 Conference Proceedings.

Kyusojin, A. , D. Sagawa and A. Toyama. 1978 "Development of Linear and Rotary Movement Mechanisms by Using Leaf Springs", Journal of Jpn. Soc Prec. Eng. , 49(12) (in Japanese).

Lee, C.K. , W.W. Chiang and T.C. O'Sullivan 1989. "Piezoelectric Modal Sensors and Actuators Achieving Critical Active Damping on a Cantilever Plate", Proc. of the AIAA/ASME/ASCE/AHS/ASC 30th Structures, Structural Dynamics and Materials Conference.

10.

Sato, K. , A. Shimokohbe , Y. Chida and S. Wada 1991. "An Active Parallel Leaf Spring Mechanism", International Journal of Jpn Soc. Prec. Eng , 25(2)

11.

Takayanagi, M. , S. Iwatsu , A. Watabe and I. Yamada. 1989 "Dynamic Measurement of Mechanical and Optical Characteristics of Optical Disks", Proc. of the International Conference on Advanced Mechatronics.

12.

Yoshimura, Y. , K. Amada and T. Akasaka. 1987. "Displacement Characteristics of One Piece Parallel Spring Movement for Balance (1st Report)", Journal of Jpn. Soc. Prec. Eng. , 53(1) (in Japanese)