Mesoscale piezoelectrically driven mechanisms - design, modeling, fabrication, and control

介观尺度压电驱动机构 - 设计、建模、制造和控制

• 批准号: RGPIN-2019-06339
• 负责人: Orszulik, Ryan
• 金额: $ 1.97万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=751033
• 关键词: Mesoscale; piezoelectrically; driven; mechanisms; design

Mechanisms and robots remain difficult to fabricate and actuate at small scales. While these challenges have found suitable solutions in medium to large scale robotics, at the mesoscale, on the order of a millimeter to centimeters, these challenges remain. Piezoelectric materials represent one possible solution to the challenge of actuation as they are materials that strain when an electric field is applied across them. At small scales in particular, actuation via the piezoelectric effect becomes favourable. While generating only small displacements, these actuators have a large bandwidth and hence can generate fast and precise movements. This research program has three main objectives which are to leverage new fabrication techniques in order to create new piezoelectric motors and parallel robots that are piezoelectrically driven. The first objective is to find cost effective fabrication techniques for piezoelectrically driven structures. The second is to build from my recent work to create planar piezoelectric motors based on a series of unimorph arms. I have designed and fabricated a series of prototypes of a piezoelectric motor which has a planar diameter of 9 mm and a thickness of less than 0.8 mm. Hence, the goal is to continue work on the design, modeling, and fabrication of this piezoelectric motor to increase its performance for small scale robotics. The third objective is to leverage these fabrication techniques to create parallel robotic mechanisms which leads from my previous work on a three degree of freedom nanopositioning platform based on piezoelectric stack actuators. This work will deal with the design of transmissions and multiple degree of freedom joints with demonstration on a planar parallel five-bar robot, en route to the final long term goal of creating a miniature Stewart platform. This platform will achieve a large workspace with high motion frequencies. The overarching goal of this research program is to engineer low-cost piezoelectrically driven motors and mechanisms at the mesoscale. By employing the developed design, modeling, fabrication, and control techniques, a number of applications will be pursued such as surgical instruments, micro-assembly, manipulators for pico to femto class satellites, and miniature autonomous vehicles while offering a unique and novel opportunity for HQP training.

机构和机器人仍然很难在小范围内制造和执行。虽然这些挑战已经在中到大规模的机器人技术中找到了合适的解决方案，在中尺度上，大约在一毫米到厘米的量级上，但这些挑战仍然存在。压电材料代表了一种可能的解决方案，因为它们是当电场施加到它们上面时会产生应变的材料。特别是在小规模的情况下，通过压电效应的驱动变得有利。虽然只产生很小的位移，但这些致动器具有很大的带宽，因此可以产生快速而精确的运动。这项研究计划有三个主要目标，即利用新的制造技术来创造新的压电式马达和由压电式驱动的并联机器人。第一个目标是寻找具有成本效益的压电驱动结构的制造技术。第二个是在我最近的工作基础上，创造基于一系列单晶片手臂的平面压电马达。设计并制作了一系列平面直径为9 mm、厚度小于0.8 mm的压电式电机样机。因此，我们的目标是继续进行这种压电马达的设计、建模和制造工作，以提高其在小型机器人中的性能。第三个目标是利用这些制造技术来创造并联机器人机构，这是我之前在基于压电堆驱动器的三自由度纳米定位平台上所做的工作的结果。这项工作将涉及传动装置和多自由度关节的设计，并在平面并联五杆机器人上进行演示，以实现创建微型Stewart平台的最终长期目标。该平台将实现大空间、高运动频率的工作空间。这项研究计划的总体目标是在中尺度上设计低成本的压电驱动电机和机构。通过采用开发的设计、建模、制造和控制技术，将应用于许多领域，如外科器械、微装配、微微到毫微微级卫星的操纵器，以及微型自动驾驶车辆，同时为HQP培训提供独特和新颖的机会。