A novel ring-beam piezoelectric actuator for small-size and high-precision manipulator

Area of Science:

• Robotics and Mechatronics
• Materials Science
• Actuator Technology

Background:

• Traditional robotic joints often require bulky DC motors, limiting miniaturization.
• Existing actuators may lack the precision and response speed needed for specialized applications.

Purpose of the Study:

• To design and develop a novel ring-beam joint element utilizing piezoelectric actuators.
• To investigate the performance characteristics of this new joint mechanism.
• To assess its suitability for challenging environments like wet hyperbaric conditions.

Main Methods:

• A piezoelectric actuator was integrated as both the power source and structural component of the joint.
• A two-degree-of-freedom, three-arm prototype was fabricated (72g, 105mm length).
• Experimental testing was conducted to determine angular speed, resolution, and response times.

Main Results:

• The piezoelectric joint achieved an angular speed of 45.9 deg/s at 58.6 kHz and 300 Vpp.
• High resolution (0.015 deg) and rapid response times (startup: 35ms, shutdown: 21ms) were demonstrated.
• The prototype exhibited a maximum rotation of 210 degrees per joint.

Conclusions:

• The piezoelectric actuator-based joint offers a simple, compact, and lightweight solution for robotic mechanisms.
• Its fast response, high precision, and self-locking capabilities are advantageous for micro-displacement control.
• The design shows significant potential for applications in wet hyperbaric environments due to its robust and integrated structure.