Abstract
This paper explores a concept for dynamic amplification of piezoelectric actuator motion using repeated impacts between the active transducer and a compliant amplification mechanism. The design shows good performance in amplifying vibration of a lead–zirconate–titanate (PZT) bimorph while down-converting the output frequency of motion from more than 150 Hz to less than 20 Hz. A simple dynamic model is used to identify the conceptual opportunities for impact-based amplification of PZT displacement. Experimental results are gathered from a prototype system with dimensions 55 mm × 22 mm × 1 mm. PZT displacement is amplified by a factor of more than 100 with near-periodic output oscillations at select input frequencies. Implications for leveraging the low-frequency output oscillations in small mobile robots are briefly discussed.
Highlights
Among small-scale transducers, piezoelectric ceramics can achieve exceptionally high work and power densities [1]
While operation at resonance can amplify motion substantially, it is difficult to design piezoelectric ceramics to produce resonance in low frequency ranges, especially at small size scales [7]. This can result in a mismatch between the highest-amplitude operating frequencies of a piezoelectric actuator and those of the natural dynamics of a small robotic system, when seeking to produce naturalistic walking or swimming gaits
The compliant mechanism was fabricated from polylactic acid (PLA), printed with an extrusion-based 3D printer (Comgrow Creativity Ender 3)
Summary
Among small-scale transducers, piezoelectric ceramics can achieve exceptionally high work and power densities [1] They can operate with comparatively simple geometry, and consume lower currents and reach higher bandwidths than shape memory alloy or electrothermal transducers. Their combination of high force generation, fast response time, and modest power consumption has made piezoelectric actuators promising for small-scaled robotics. While operation at resonance can amplify motion substantially, it is difficult to design piezoelectric ceramics to produce resonance in low frequency ranges, especially at small size scales [7] This can result in a mismatch between the highest-amplitude operating frequencies of a piezoelectric actuator and those of the natural dynamics of a small robotic system, when seeking to produce naturalistic walking or swimming gaits
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