Deflection control for piezoelectric actuator through voltage signal and it’s application in micromanipulation

Abstract Piezoelectric actuator can be used for handling and grasping of miniature parts in micromanipulation where study of stable displacement and force characteristics with voltage are important for developing a micro gripper. In order to obtain these behaviors of piezoelectric actuator, electromechanical characterization of piezoelectric actuator has been carried out in this paper where a mathematical model for deflection and force response of piezoelectric actuator with voltage is derived with the help of a simple first-order model under a step input voltage. This is controlled through a proportional-derivative (PD) controller. Experimentally, it is verified that the piezoelectric actuator attains the maximum deflection upto 1.5 mm and produces force upto 0.203 N by applying voltage (0–60 V). A prototype of novel piezoelectric actuator based micro gripper along with micro manipulation system is developed. By conducting experiments, it is proved that controlled voltage for piezoelectric actuator helps in compensating the misalignment during micro assembly.

[1]  Philippe Lutz,et al.  Simultaneous Displacement/Force Self-Sensing in Piezoelectric Actuators and Applications to Robust Control , 2015, IEEE/ASME Transactions on Mechatronics.

[2]  T. Tiankov,et al.  Structured piezo-ceramic mechatronic handling devices for micro and nano manipulations , 2008, 2008 5th International Symposium on Mechatronics and Its Applications.

[3]  Diann Brei,et al.  Force-deflection behavior of piezoelectric C-block actuator arrays , 1999 .

[4]  P. Lutz,et al.  Nonlinear modeling and estimation of force in a piezoelectric cantilever , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[5]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[6]  R. K. Jain,et al.  Design and control of an IPMC artificial muscle finger for micro gripper using EMG signal , 2013 .

[7]  Brahim Tamadazte,et al.  Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing , 2011, IEEE/ASME Transactions on Mechatronics.

[8]  Bingen Yang,et al.  Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping , 2007 .

[9]  Philippe Lutz,et al.  Self-Sensing Measurement in Piezoelectric Cantilevered Actuators for Micromanipulation and Microassembly Contexts , 2011 .

[10]  Guillaume Morel,et al.  A new inter-phalangeal actuator for dexterous micro-grippers , 1997, Proceedings of International Conference on Robotics and Automation.

[11]  Yonghong Tan,et al.  Modeling of hysteresis in piezoelectric actuators using neural networks , 2009 .

[12]  Charles K. Alexander,et al.  Fundamentals of Electric Circuits , 1999 .

[13]  Bijan Shirinzadeh,et al.  Robust Adaptive Constrained Motion Tracking Control of Piezo-Actuated Flexure-Based Mechanisms for Micro/Nano Manipulation , 2011, IEEE Transactions on Industrial Electronics.

[14]  R. Jain,et al.  Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites) , 2009 .

[15]  Ronald S. Fearing,et al.  Development of PZT and PZN-PT based unimorph actuators for micromechanical flapping mechanisms , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[16]  Micky Rakotondrabe,et al.  Characterization, modeling and robust control of a nonlinear 2-dof piezocantilever for micromanipulation/microassembly , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Philippe Lutz,et al.  Noise characterization in millimeter sized micromanipulation systems , 2011 .

[18]  Matteo Zoppi,et al.  A LOW-COST RECONFIGURABLE GRIPPER FOR ASSEMBLY AND DISASSEMBLY TASKS IN WHITE INDUSTRY , 2006 .

[19]  G. C. Causey.  Guidelines for the design of robotic gripping systems , 2003 .

[20]  Micky Rakotondrabe,et al.  Signal Measurement and Estimation Techniques for Micro and Nanotechnology. , 2011 .

[21]  Yonggang Huang,et al.  High performance piezoelectric devices based on aligned arrays of nanofibers of poly(vinylidenefluoride-co-trifluoroethylene) , 2013, Nature Communications.

[22]  John T. Wen,et al.  Dynamic modeling and input shaping of thermal bimorph MEMS actuators , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[23]  Michael Goldfarb,et al.  A flexure-based gripper for small-scale manipulation , 1999, Robotica.

[24]  Micky Rakotondrabe,et al.  Development and Force/Position Control of a New Hybrid Thermo-Piezoelectric MicroGripper Dedicated to Micromanipulation Tasks , 2011, IEEE Transactions on Automation Science and Engineering.

[25]  D. Campolo,et al.  Efficient charge recovery method for driving piezoelectric actuators with quasi-square waves , 2003, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control.

[26]  Jing Wang,et al.  Measurement on the actuating and sensing capability of a PZT microcantilever , 2007 .

[27]  K. Kim,et al.  Ionic polymer-metal composites: I. Fundamentals , 2001 .

[28]  Alper Erturk,et al.  Electromechanical Modeling of Piezoelectric Energy Harvesters , 2009 .

[29]  In-Su Kim,et al.  Displacement Control of Piezoelectric Actuator using the PID Controller and System Identification Method , 2008, 2008 Joint International Conference on Power System Technology and IEEE Power India Conference.

[30]  Lienhard Pagel,et al.  Development of a micro-manipulator based on piezoelectric-technology , 2007 .

[31]  A. Bergander,et al.  Development of Miniature Manipulators for Applications in Biology and Nanotechnologies , 2003 .

[32]  Ju H. Park,et al.  Integral Tracking Control for a Piezoelectric Actuator System , 2012 .

[33]  M Grossard,et al.  Modeling and Robust Control Strategy for a Control-Optimized Piezoelectric Microgripper , 2011, IEEE/ASME Transactions on Mechatronics.

[34]  Cheng Yap Shee,et al.  Automatic Hysteresis Modeling of Piezoelectric Micromanipulator in Vision-Guided Micromanipulation Systems , 2012, IEEE/ASME Transactions on Mechatronics.

[35]  Farid Al-Bender,et al.  Design of piezo-based AVC system for machine tool applications , 2013 .

[36]  C. Clevy,et al.  Modeling, fabrication, and validation of a high-performance 2-DoF piezoactuator for micromanipulation , 2005, IEEE/ASME Transactions on Mechatronics.

[37]  Byung Kyu Kim,et al.  Institute of Physics Publishing Smart Materials and Structures a Superelastic Alloy Microgripper with Embedded Electromagnetic Actuators and Piezoelectric Force Sensors: a Numerical and Experimental Study , 2022 .