Control of a flexible arm using piezoelectric bimorph chells.
Control of a flexible arm using piezoelectric bimorph chells.
复制标题
使用压电双晶片控制柔性臂。
DOI：
10.1299/kikaic.56.416
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
J. Tani
中科院分区：
文献类型：
--
作者：
Zhongwei Jiang;S. Chonan;J. Tani
本文描述了由粘贴在臂表面的压电双晶片电池控制的柔性微机械臂的尖端位移。手臂由电池产生的扭矩驱动，手臂的终点受到控制，使其与目标的波动同步移动，并保持与目标表面的恒定距离。施加到电池上的电压由尖端位移和速度组成的反馈信号控制。将细胞-臂系统视为阶梯梁，用时间离散方法求解系统的控制方程，得到了理论解。给出了实验结果，并与理论结果进行了比较。这两个结果对于所涉及的广泛的物理参数都是很好的一致的。
This paper describes the tip displacement of a flexible miniature arm controlled by the piezoelectric bimorph cells cemented on the surface of the arm. The arm is driven by the torques generated by the cells, and the endpoint of the arm is controlled so that it moves in synchrony with the fluctuation of the target and maintains a constant distance to the surface of the target. The voltage applied to the cells is controlled by a feedback signal composed of the tip displacement and the velocity. A theoretical solution is obtained by considering the cell-arm system as a stepped beam and applying the time-discrete method to the governing equations of the system. Experimental results are obtained and compared with the theoretical ones. Both results are good agreement for a wide range of physical parameters involved.