Light-weight robot using piezoelectric motor, sensor and actuator

摘要

A robotic manipulator with active members made of a piezoelectric material (PZT piezoceramics) has been designed and assembled. It features lower self-weight, more flexibility and better performance due to some new approaches in the design. First, an unconventional piezoelectric motor is designed as a light-weight, quick-response driver of the manipulator. The piezo-motor is integrated into a servo system to drive the robotic arm. Second, the linkage design is a light-weight and flexible structure. In order to control the undesired vibration interferences to the robotic arm, an active vibration control system is used having small wafer type piezoelectric sensors and actuators embedded in the linkage structure. The robotic arm is modeled as a simple cantilever beam, and a linear velocity feedback controller is designed targeting the fundamental bending mode. The experimental manipulator can move to a programmed destination very quickly and smoothly, with much less settling time compared to the passive linkage structure.