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Design of a Piezoelectric Poly-Actuated Linear Motor

Author(s)
Tsukahara, Shinichiro; Penalver-Aguila, Lluis Enric; Torres, James; Asada, Haruhiko
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Abstract
Design and analysis for an efficient and force dense piezoelectric poly-actuated linear motor is presented. A linear motor is constructed with multiple piezoelectric actuator units engaging a rod having gear teeth. The multiple piezo-units are placed along the geared rod with a particular phase difference such that a near constant force is generated regardless of the rod position by coordinating the multiple piezo-units. Rolling contact buckling mechanisms within the piezo-units provide large displacement amplification with high energy transmission and low loss properties from the piezo-units to the geared rod. This piezo-based motor has capacitive actuator characteristics which allow it to bear static loads efficiently. Furthermore, the poly-actuator architecture presented provides for scalability through modular design. First, the basic design principle describing the engagement of buckling amplification mechanisms to a phased array-shaped gear rod is presented, and the resulting force and displacement characteristics are analyzed. Design methods for creating a piezoelectric poly-actuated linear motor are then summarized. A prototype design is presented for which a maximum mean force of 213 N, a maximum velocity of 1.125 m/s, and a force density of 41 N/kg is calculated. Copyright © 2013 by ASME.
Date issued
2013-10
URI
http://hdl.handle.net/1721.1/118807
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Journal
Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
Publisher
ASME International
Citation
Tsukahara, Shinichiro, et al. “Design of a Piezoelectric Poly-Actuated Linear Motor.” Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, ASME, 21-23 October, 2013, Palo Alto, California, 2013, p. V003T37A005.
Version: Final published version
ISBN
978-0-7918-5614-7

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