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Design and analysis of a 3-link micro-manipulator actuated by piezoelectric layers
, Article Mechanism and Machine Theory ; Volume 112 , 2017 , Pages 43-60 ; 0094114X (ISSN) ; Jafarishad, H ; Sharif University of Technology
Elsevier Ltd
2017
Abstract
The purpose of this paper is to design and analyze a 3-link micro-device proposed as a micro-manipulator. This micro-manipulator includes 3 micro-beams as links connected to one another with no conventional or flexural joints. While the structure of the micro-manipulator is monolithic, end-effector workspace is achieved through deflection of links which is actuated by piezoelectric layers. By combining static analysis of the links through a multilayer piezoelectric beam model and kinematic analysis of the micro-manipulator, inverse kinematic has been solved utilizing the Taylor series expansion technique and the perturbation method. The obtained results through the present model reveal that...
Vibration boundary control of micro-cantilever timoshenko beam using piezoelectric actuators
, Article Scientia Iranica ; Volume 25, Issue 2B , 2018 , Pages 711-720 ; 10263098 (ISSN) ; Salarieh, H ; Alasty, A ; Vatankhah, R ; Sharif University of Technology
Sharif University of Technology
2018
Abstract
One of the methods of force/moment exertion on micro beams is utilizing piezoelectric actuators. In this paper, considering the effects of the piezoelectric actuator on asymptotic stability achievement, the boundary control problem for the vibration of a clamped-free micro-cantilever Timoshenko beam is addressed. To achieve this purpose, the dynamic equations of the beam actuated by a piezoelectric layer laminated on one side of the beam are extracted. The control law was implemented so that vibrations of the beam could be decayed. This control law was achieved based on feedback of time derivatives of boundary states of the beam. The obtained control was applied in the form of piezoelectric...