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Prepared by: Gustavo Estrada Dept. of Electrical and Computer Engineering Utah State University

ECE5320 Mechatronics Assignment#01: Literature Survey on Actuator Piezoelectric Bending Actuator. Prepared by: Gustavo Estrada Dept. of Electrical and Computer Engineering Utah State University (435)797-3054 (ECE Dept.). 3/11/2010. Outline. Reference list To probe further

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Prepared by: Gustavo Estrada Dept. of Electrical and Computer Engineering Utah State University

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  1. ECE5320 MechatronicsAssignment#01: Literature Survey on Actuator Piezoelectric Bending Actuator Prepared by: Gustavo Estrada Dept. of Electrical and Computer Engineering Utah State University (435)797-3054 (ECE Dept.) 3/11/2010

  2. Outline • Reference list • To probe further • Major applications • Basic working principle illustrated • A typical sample configuration in application (application notes) • Major specifications • Limitations • And many more relevant issues in applications (such as, how to choose, cost information, where to buy etc.) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  3. Reference List • Development of Piezoelectric Bending Actuators with Embedded Piezoelectric Sensors for Micromechanical Flapping Mechanisms http://robotics.eecs.berkeley.edu/~ronf/PAPERS/mimmoicra03.pdf • Prototype Micromanipulator of Space Robotics Applications http://www.isso.uh.edu/publications/A2006/2006_037_dabney.pdf • Nonlinear Dynamic Characteristics of Piezoelectric Bending Actuators Under Strong Applied Electric Field http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  4. To Probe Further • As future work, the actuator device can be used to induce the wing to track the desired kinematics. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  5. Major Applications • Piezoelectric bending actuators are widely used in smart structure applications due to their high bandwidth, high output force, compact size, and high power density properties. For such reasons they are very appealing for mobile microrobotic applications such as the Micromechanical Flying Insect (MFI) where, because of strict size/weight constraints, smart structures capable of both actuating and sensing are preferred. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  6. Basic Working Principal A piezoelectric bending actuator comprising a longitudinal effect-type laminated piesoeletric element composed of piesoeletric ceramic sheets laminated in their thickness direction, and a supporting member fixed to one side in the longitudinal direction of the element and being bending and capable of constraining expansion of the element. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  7. Free Body Diagram Figure from: http://robotics.eecs.berkeley.edu/~ronf/PAPERS/mimmoicra03.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  8. Typical Sample Principal Figure from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  9. Another Sample Diagram from: http://robotics.eecs.berkeley.edu/~ronf/PAPERS/mimmoicra03.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  10. Another Sample Diagram from: http://robotics.eecs.berkeley.edu/~ronf/PAPERS/mimmoicra03.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  11. Major Especifications • Piezoelectric Actuator Diagram • Mathematical Model • Physical Properties • Efects of Electric Fields • Efects of Applied Electric Field • Amplitude of the Tip Deflection • Conclusions of a study ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  12. Piezoelectric Actuator Diagram Diagram from: http://iopscience.iop.org/0964-1726/13/5/018/pdf/0964-1726_13_5_018.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  13. Mathematical Model Data from: http://robotics.eecs.berkeley.edu/~ronf/PAPERS/mimmoicra03.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  14. Physical Properties Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  15. Efects of Electric Field Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  16. Effects of Applied Electric Field Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  17. Applied & Calculated Electric Field Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  18. Amplitude of the Tip Deflection Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  19. Amplitude of the Tip Deflection Info from: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=01321102 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  20. Conclusions of a Study • At high electric fields piezoelectric actuators exhibit strong nonlinear characteristics. Using the asymptotic theory of nonstationary vibrations, the dynamic characteristics of the piezoelectric bending actuators have been modeled. From the present nonlinear model, the change in the fundamental resonant frequency of the piezoelectric cantilever with the variation in the electric field can be well predicted. The predicted resonance amplitude of the tip deflection of the piezoelectric actuators, which increases with the increase in the magnitude of the electric field, well agrees with experimental results. Additionally, the decrease in the mechanical quality factor with the increase in the electric field, the tip deflection of the piezoelectric actuators near resonance frequency, the amplitude of the tip deflection at the fundamental vibration tone under the applied electric field varying with time have also been obtained using the present model. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  21. Limitations • In reality piezoelectric materials are afected by several kind of losses, among these the dielectric ones. Considering the piezoelectric layer as a capacitor, if a static charge is initially placed across its electrodes, the capacitor will eventually discharge because of ohmic losses of the dielectric material constituting the capacitor itself. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  22. Useful Links for Shopping • Sparkfun Electronics provides a range of sizes and prices for piezoelectric bending actuators. See link below to view different sensor options • http://www.google.com/patents/about?id=bDKSAAAAEBAJ&dq=piezoelectric+vibration+sensor • Digikey corporations is another good source to porchase this actuator • http://parts.digikey.com/1/parts/945405-sensor-piezo-film-vibra-mass-0-1005447-1.html ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

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