Abstract
This paper presents numerical and experimental investigations of a small size piezoelectric locomotion platform that provides unlimited planar motion. The platform consists of three piezoelectric bimorph plates attached to the equilateral triangle-shaped structure by an angle of 60 degrees. Alumina spheres are glued at the bottom of each plate and are used as a contacting element. The planar motion of the platform is generated via excitation of the first bending mode of the corresponding plate using a single harmonic signal while the remaining plates operate as passive supports. The direction of the platform motion controlled by switching electric signal between piezoelectric plates. A numerical investigation of the 2-DOF platform was performed, and it was found out that the operation frequency of the bimorph plates is 23.67 kHz, while harmonic response analysis showed that the maximum displacement amplitude of the contact point reached 563.6 µm in the vertical direction while an excitation signal of 210 Vp-p is applied. Prototype of the 2-DOF piezoelectric platform was made, and an experimental study was performed. The maximum linear velocity of 44.45 mm/s was obtained when preload force and voltage of 0.546 N and 210 Vp-p were applied, respectively.
Highlights
There is a high demand for planar positioning and locomotion platforms that can provide micro or nanoscale resolution, fast response, and high dynamic characteristics [1,2]
Simulation results shows that the vibration amplitudes of the contact points (CP) located on the passive bimorph plates are significantly smaller compare to the amplitudes of vibrations of the sphere located on the active plate
The highest thrust force values were obtained at 210 Vp-p, while the average force valueAis2-DOF
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Piezoelectric positioning devices have a simple structure, straightforward operation principle as well as relatively uncomplicated control system These advantages forced the investigation of piezoelectric locomotion platforms and their application in different positioning systems [16,17]. During vibrations of piezoelectric actuator, the supports generates different motion trajectories and as a result, planar motion of robot occurs. Despite to good dynamic characteristics and possibility to change motion direction by switching control signal between actuators, the robot has disadvantages such as bulky design, non–resonant operation principle and complex control of motion direction. This paper introduces numerical and experimental investigation of a novel piezoelectric 2-DOF locomotion platform with unlimited motion range in the plane and high dynamic characteristics.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
