Dynamic properties of an omni-directional piezoelectric motor for precision position control
- Dynamic properties of an omni-directional piezoelectric motor for precision position control
- 정우석; 강종윤; 백동수; 피오트로 바실리에프; 김정도; 윤석진
- Piezoelectric actuator; Omni-directional; Admittance characteristic; PID control
- Issue Date
- VOL 49, NO 6-7, 594-598
- A piezoelectric motor capable of omni-directional movements has been developed to apply for robot
joints, eyes, and precision positioning stage. The piezoelectric actuator has a simple structure of a cone
type consisting of two piezoelectric ring-typed ceramics with electrodes divided into four segments
and stainless steel elastic bodies. Before manufacturing the piezoelectric motor, the admittance characteristics
and displacements of the actuator as a function of frequency were simulated. Elliptical motions
of the actuator were created at several frequencies between the longitudinal and transverse resonance
frequencies. The actual motor with alumina ball exhibited nice performance using a driving circuit with
two rotary encoders and a PID controller. The moving element was omni-directionally operated at a driving
frequency of 53.8 kHz and an output voltage of 280 Vp-p. The developed motor enables the moving
element to move to a desired position with a resolution of 1.2 /pulse, an angular velocity of 4 rad/s,
and a thrust force of 200 g.
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