Design and Development of Piezoelectric Shear-driving Multi-DOF Ball-type Actuator and Performance Analysis
Date Issued
2006
Date
2006
Author(s)
Wu, Chun-Nan
DOI
zh-TW
Abstract
The paper presents a novel design of a Multi-DOF ball-type Actuator (MDBA), which is developed for achieving multi-axial rotation and precision rotating angle control. Three piezoelectric actuating units are applied to drive frictionally a ferromagnetic steel ball, and each actuating unit is composed of a wear-resistant ceramic contact plate and two d15-type piezoelectric shear plates, whose polarized directions are perpendicular to each other. The three actuating units are installed on three corner surfaces of a steel base respectively. To produce sufficient contact force between the actuating unit and the ball, the permanent magnet is used to supply the magnetic preload on the ball. The piezoelectric shear plate is driven by the unsymmetrical saw-toothed signal to realize inertial actuation. The actuating process is monitored by detecting visually the position of a reflective mark attached on the actuated ball, and from the captured images the speed and the angular displacement of the ball can be derived. Diverse control combinations of the actuating units can be applied to vary the rotating direction of the ball. Furthermore, the number of driving pulses and the driving frequency are the main operational parameters for precise controlling the rotational angle and the speed.
Subjects
球型致動器
多軸向轉動
壓電元件
剪應變
摩擦
慣性作動原理
合成致動
Ball-type actuator
Multi-axial rotation
Piezoelectric element
Shear strain
Friction
Inertial driving principle
Synthetic actuation
Type
thesis
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