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Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

《机械工程前沿（英文）》 2015年第10卷第1期页码 20-36 doi: 10.1007/s11465-015-0328-z

摘要：

Packaged piezoelectric ceramic actuators (PPCAs) and compliant mechanisms are attractive for nanopositioning and nanomanipulation due to their ultra-high precision. The way to create and keep a proper and steady connection between both ends of the PPCA and the compliant mechanism is an essential step to achieve such a high accuracy. The connection status affects the initial position of the terminal moving plate, the positioning accuracy and the dynamic performance of the nanopositioning platform, especially during a long-time or high-frequency positioning procedure. This paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF) compliant nanopositioning platform. The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide a more accurate actual input displacement and output displacement. The simulation results verify the proposed stiffness model and dynamic model of the platform. The values of the preload displacement, actual input displacement and output displacement can be measured by three capacitive sensors during the whole positioning procedure. The test results show the preload characteristics vary with different types or control modes of the PPCA. Some fitting formulas are derived to describe the preload displacement, actual input displacement and output displacement using the nominal elongation signal of the PPCA. With the identification of the preload characteristics, the actual and comprehensive output characteristics of the PPCA can be obtained by the strain gauge sensor (SGS) embedded in the PPCA.

关键词： nanopositioning preload characteristic packaged piezoelectric ceramic actuator compliant mechanism

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Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第4期页码 433-438 doi: 10.1007/s11465-007-0074-y

摘要： This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramic stacks (PZT), and analyzes its dynamic performances. First, the space coordinate relationship of the spherical micro actuator and a dynamic model are set up. Second, The Runge-Kutta arithmetic is used to calculate the dynamical parameters of the micro actuator; the SIMULINK module of MATLAB is used to build the dynamical simulating model and then simulate it. Third, an experimental sample of the spherical micro actuator is developed, a micromanipulator is integrated with a micro-gripper based on the sample spherical micro actuator, and the experimental research on the micro assembly is conducted between a micro shaft of 180 μm and a micro spindle sleeve of 200 μm. Finally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphere of the micro actuator, driving signal frequency, friction coefficient of the contact surface between the metal sphere and the friction block of the micro driving unit are analyzed. The experimental results indicate that the rotation resolution of the micro actuator reaches 0.000 1°, the rotation positioning precision reaches 0.000 5°, and the maximum working frequency is about 1200 Hz. The experimental results validate the back rotation vibration model of the spherical micro actuator. The micromanipulator integrated by the spherical micro actuator can meet the requirements of precise micro operation and assembly for micro electro mechanical systems (MEMS) or other microelements in micro degree fields.

关键词： spherical micro-gripper friction coefficient dynamic frequency

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Impact drive rotary precision actuator with piezoelectric bimorphs

ZHANG Hongzhuang, ZENG Ping, HUA Shunming, CHENG Guangming, YANG Zhigang

《机械工程前沿（英文）》 2008年第3卷第1期页码 71-75 doi: 10.1007/s11465-008-0008-3

摘要： An impact drive rotary precision actuator with end-loaded piezoelectric cantilever bimorphs is proposed. According to finite element analysis and experiments of the dynamic characteristics of end-loaded piezoelectric cantilever bimorphs, a specific fixed-frequency and adjustable-amplitude is confirmed to control the actuator. The results show that an actuator excited by fixed-frequency and the adjustable-amplitude ramp voltage waveform works with a large travel range (180°), high resolution (1 ?rad), speed (0.2 rad/min) and heavy-load ability (0.02 Nm). With advantages of high-precision positioning ability, simple structure and only one percent the cost of traditional impact drive mechanisms, the actuator is expected to be widely used in precision industries.

关键词： specific fixed-frequency waveform piezoelectric cantilever mechanisms adjustable-amplitude

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Robust isogeometric topology optimization for piezoelectric actuators with uniform manufacturability

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0683-5

摘要： Piezoelectric actuators have received substantial attention among the industry and academia due to quick responses, such as high output force, high stiffness, high accuracy, and precision. However, the design of piezoelectric actuators always suffers from the emergence of several localized hinges with only one-node connection, which have difficulty satisfying manufacturing and machining requirements (from the over- or under-etching devices). The main purpose of the current paper is to propose a robust isogeometric topology optimization (RITO) method for the design of piezoelectric actuators, which can effectively remove the critical issue induced by one-node connected hinges and simultaneously maintain uniform manufacturability in the optimized topologies. In RITO, the isogeometric analysis replacing the conventional finite element method is applied to compute the unknown electro elastic fields in piezoelectric materials, which can improve numerical accuracy and then enhance iterative stability. The erode–dilate operator is introduced in topology representation to construct the eroded, intermediate, and dilated density distribution functions by non-uniform rational B-splines. Finally, the RITO formulation for the design of piezoelectric materials is developed, and several numerical examples are performed to test the effectiveness and efficiency of the proposed RITO method.

关键词： piezoelectric actuator isogeometric topology optimization uniform manufacturability robust formulation density distribution function

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Semi-active vibration control using piezoelectric actuators in smart structures

Jinhao QIU, Hongli JI, Kongjun ZHU

《机械工程前沿（英文）》 2009年第4卷第3期页码 242-251 doi: 10.1007/s11465-009-0068-z

摘要： The piezoelectric materials, as the most widely used functional materials in smart structures, have many outstanding advantages for sensors and actuators, especially in vibration control, because of their excellent mechanical-electrical coupling characteristics and frequency response characteristics. Semi-active vibration control based on state switching and pulse switching has been receiving much attention over the past decade because of several advantages. Compared with standard passive piezoelectric damping, these new semi-passive techniques offer higher robustness. Compared with active damping systems, their implementation does not require any sophisticated signal processing systems or any bulky power amplifier. In this review article, the principles of the semi-active control methods based on switched shunt circuit, including state-switched method, synchronized switch damping techniques, and active control theory-based switching techniques, and their recent developments are introduced. Moreover, the future directions of research in semi-active control are also summarized.

关键词： smart structure semi-active method vibration control piezoelectric actuator

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Performance investigation on ultrasonic levitation axial bearing for flywheel storage system

Taijiang PENG, Zhigang YANG, Junwu KAN, Fengjun TIAN, Xiaohong CHE,

《机械工程前沿（英文）》 2009年第4卷第4期页码 415-419 doi: 10.1007/s11465-009-0051-8

摘要： The bearing is an important basic mechanical part for supporting a shaft. A flywheel storage system needs a type of noncontact support bearing to enhance the speed of the axis. A magnetic suspension bearing is one type of noncontact bearing but has electromagnetic interference to other electric equipment. Based on the performance research of ultrasonic levitation technology, a novel noncontact bearing called ultrasonic bearing is presented, which consists of a special piezoelectric vibrator supporting the load. Experiments are carried out to study the relationships among the amplitude of the vibrator and levitation clearance, the highest speed of the axis, and the frictional moment of the axis. Results show that the levitation clearance becomes smaller gradually with increasing load; the rotation speed is up to 8946 r/min, and the friction moment is only 2.095×10 N·m when the levitation clearance is 8.53 μm. The ultrasonic bearing is highlighted because of its simple structure, strong levitation ability, and low friction moment.

关键词： ultrasonic bearing flywheel storage system piezoelectric ceramic piezoelectric vibrator

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator nonlinear stiffness actuator nonlinear spring predefined torque−deflection profile

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Research on applications of piezoelectric materials in smart structures

Jinhao QIU, Hongli JI

《机械工程前沿（英文）》 2011年第6卷第1期页码 99-117 doi: 10.1007/s11465-011-0212-4

摘要：

Piezoelectric materials have become the most attractive functional materials for sensors and actuators in smart structures because they can directly convert mechanical energy to electrical energy and vise versa. They have excellent electromechanical coupling characteristics and excellent frequency response. In this article, some research activities on the applications of piezoelectric materials in smart structures, including semi-active vibration control based on synchronized switch damping using negative capacitance, energy harvesting using new electronic interfaces, structural health monitoring based on a new type of piezoelectric fibers with metal core, and active hysteresis control based on new modified Prandtl-Ishlinskii model at the Aeronautical Science Key Laboratory for Smart Materials and Structures, Nanjing University of Aeronautics and Astronautics are introduced.

关键词： piezoelectric materials vibration control energy harvesting structural health monitoring piezoelectric hysteresis

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Present situation and classification of piezoelectric pump

Fang YE, Shouyin WANG, Wei CHENG, Qixiao XIA, Jianhui ZHANG,

《机械工程前沿（英文）》 2009年第4卷第4期页码 420-429 doi: 10.1007/s11465-009-0052-7

摘要： According to the present classification method for a piezoelectric pump, this paper reviews the development and present situation of piezoelectric pumps in the latest 30 years and finally puts forward a new classification. A volumetric piezoelectric pump, which belongs to traditional volumetric pumps, can be divided into a piezoelectric pump with or without valves. A new valveless piezoelectric pump nowadays becomes a hot issue in scientific research. It is constructed by using no-moving-part valves, which can induce positive flow resistance and negative flow resistance different, and in which the inlet and outlet are connected all the time. New forms of piezoelectric pumps, different from traditional ones, are only at the stage of conception and principle, and no practical application has been reported.

关键词： piezoelectric pump development and present situation new classification method valveless piezoelectric pump new forms of piezoelectric pump

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Brazing of ceramic-to-ceramic and ceramic-to-metal joints in air

Kirsten BOBZIN, Thomas SCHLAEFER, Lidong ZHAO, Nils KOPP, Arne SCHLEGEL

《机械工程前沿（英文）》 2010年第5卷第2期页码 125-129 doi: 10.1007/s11465-010-0007-z

摘要： Reactive air brazing (RAB) is an emerging technology for the production of ceramic-to-ceramic and ceramic-to-metal joints. In this study, RAB was investigated with respect to the potential applications for solid oxide fuel cells (SOFCs) as one example of use. It was found that alumina could be well brazed by RAB with AgCu and AgCuTi brazes. Both braze composition and brazing temperature influenced significantly the wetting behavior and their mechanism of wetting. AgCu and AgCuTi braze alloys could also be used to produce brazed joints with the SOFC materials ceramic yttria stabilized zirconia and steel X1CrTiLa22. However, CuO reacts with the steel, forming a brittle oxide layer on the steel surface, which is undesirable for SOFC applications. The first trials with Ag0.5Al showed a promising solution.

关键词： reactive air brazing (RAB) X1CrTiLa22 Al₂O₃ yttria stabilized zirconia (YSZ) solid oxide fuel cell (SOFC)

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Ceramic membrane fouling mechanisms and control for water treatment

《环境科学与工程前沿（英文）》 2023年第17卷第10期 doi: 10.1007/s11783-023-1726-9

摘要：

● The fouling is summarized based on ceramic membrane performance and pollutants.

关键词： Ceramic membrane Fouling model Fouling control

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot cable-driven linear actuator parallel robot stiffness analysis

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

《机械工程前沿（英文）》 2021年第16卷第4期页码 711-725 doi: 10.1007/s11465-021-0647-1

摘要： The safety of human–robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human–robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional–derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

关键词： variable stiffness actuator variable stiffness module drive module symmetrical structure double-deck grooves expandable electrical system

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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0735-x

摘要： Servo-hydraulic actuators (SHAs) are widely used in mechanical equipment to drive heavy-duty mechanisms. However, their energy efficiency is low, and their motion characteristics are inevitably affected by uncertain nonlinearities. Electromechanical actuators (EMAs) possess superior energy efficiency and motion characteristics. However, they cannot easily drive heavy-duty mechanisms because of weak bearing capacity. This study proposes and designs a novel electromechanical-hydraulic hybrid actuator (EMHA) that integrates the advantages of EMA and SHA. EMHA mainly features two transmission mechanisms. The piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts, realizing the integration of two types of transmission mechanisms. The control scheme of the electromechanical transmission mechanism is used for motion control, and the hydraulic transmission mechanism is used for power assistance. Then, the mathematical model, structure, and parameter design of the new EMHA are studied. Finally, the EMHA prototype and test platform are manufactured. The test results prove that the EMHA has good working characteristics and high energy efficiency. Compared with the valve-controlled hydraulic cylinder system, EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%, respectively, under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator (EMHA) integration transmission mechanisms power assistance energy efficiency working characteristics