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VGTU talpykla >
Mechanikos fakultetas / Faculty of Mechanics >
Moksliniai straipsniai / Research articles >
Please use this identifier to cite or link to this item:
http://dspace.vgtu.lt/handle/1/3605
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| Title: | Piezoelectric kinematic pairs with several DOF in miniature high-resolution piezoelectric robots |
| Authors: | Bansevicius, Ramutis
Kulvietis, Genadijus
Jurenas, Vytautas
Janutenaite-Bogdaniene, Jurate |
| Keywords: | miniature piezoelectric robot
active kinematic pairs
degree of freedom |
| Issue Date: | 2017 |
| Publisher: | JVE International |
| Citation: | Bansevicius, R.; Kulvietis, G.; Jurenas, V.; Janutenaite-Bogdaniene, J. 2017. Piezoelectric kinematic pairs with several DOF in miniature high-resolution piezoelectric robots, Journal of vibroengineering 19(7), 5182–5190 |
| Series/Report no.: | 19;7 |
| Abstract: | This paper presents results on the development and investigation of new miniature
robots with increased number of degrees of freedom, based on the application of piezoelectric
kinematic pairs with multi-DOF. The schematics of technologically advanced multi-DOF active
kinematic pairs are presented and the details of their control are explained. The structure control
of multi-DOF active kinematic pairs is based on sectioning of electrodes of the piezoelectric
actuators and allows selecting desirable types of oscillations and speeds of links. Three
modifications of piezoelectric robots with 6 and 15 DOFs are provided, together with their
resolutions and responses to step inputs. Modal and harmonic analyses were performed and
displacements of contact points were obtained. Trajectory planning algorithms are developed
based on the numerical results. |
| URI: | http://dspace.vgtu.lt/handle/1/3605 |
| ISSN: | 1392-8716 |
| Appears in Collections: | Moksliniai straipsniai / Research articles
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