Mathematical modeling and control of a piezoelectric cellular actuator exhibiting quantization and flexibility

System dynamics and control;Piezoelectric ceramics;Flexible mechanisms;Robotics

Schultz, Joshua Andrew ; Mechanical Engineering

University:Georgia Institute of Technology

Department:Mechanical Engineering

关键词: System dynamics and control;    Piezoelectric ceramics;    Flexible mechanisms;    Robotics;   

Others  :  https://smartech.gatech.edu/bitstream/1853/45776/1/schultz_joshua_a_201212_phd.pdf

美国|英语

来源: SMARTech Repository

【 摘 要 】

This thesis presents mathematical modeling and control techniques that can be used to predict and specify performance of biologically inspired actuation systems called cellular actuators. Cellular actuators are modular units designed to be connected in bundles in manner similar to human muscle fibers. They are characterized by inherent compliance and large numbers of on-off discrete control inputs. In this thesis, mathematical tools are developed that connect the performance to the physical manifestation of the device. A camera positioner inspired by the human eye is designed to demonstrate how these tools can be used to create an actuator with a useful force-displacement characteristic. Finally, control architectures are presented that use discrete switching inputs to produce smooth motion of these systems despite an innate tendency toward oscillation. These are demonstrated in simulation and experiment.