Abstract
“Smart” robotic manipulators and machine structures/components with integrated self-monitoring and control capabilities are becoming of importance in recent development of new-generation intelligent manufacturing systems. In this report, a generic integrated piezoelectric sensor/actuator design and its applications to “smart” machines/robots are presented. A generic multi-layered piezoelectric sensor/actuator theory for a generic distributed parameter system (a shell continuum) is derived using Love’s theory, Hamilton’s principle, and linear piezoelectric theory. The derived equation can be simplified to account for many other common geometries (e.g., plates, cylinders, beams, etc.) which are the basic components of robotic and machine structures/components. A simple reduction procedure is proposed and examples are demonstrated in case studies. Physical systems which include a flexible manipulator, a “smart” high-precision micro-actuator are studied analytically and experimentally.
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© 1992 Springer Science+Business Media Dordrecht
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Tzou, H.S. (1992). Distributed Piezoelectric Transducers Applied To Identification, Control, And Micro-Isolation. In: Tzou, H.S., Fukuda, T. (eds) Precision Sensors, Actuators and Systems. Solid Mechanics and Its Applications, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1818-7_11
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DOI: https://doi.org/10.1007/978-94-011-1818-7_11
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