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This study presents a novel piezoelectric robot capable of precise planar and angular motion control for spherical payloads. The robot utilizes a unique ring design with segmented electrodes for directional manipulation.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechatronics

Background:

  • Piezoelectric actuators offer precise motion control.
  • Developing robots for precise manipulation of spherical objects is challenging.
  • Multi-DOF robots require sophisticated control strategies.

Purpose of the Study:

  • To investigate a novel ring-shaped piezoelectric robot for 5-DOF motion control of spherical payloads.
  • To explore the capabilities of piezoelectric actuators in achieving both planar and angular payload movements.
  • To analyze the influence of segmented electrodes on motion directionality.

Main Methods:

  • Numerical modeling to determine optimal vibration frequencies for planar and angular motion.
  • Experimental validation of the robot's performance under varying excitation voltages and payload masses.
  • Design and fabrication of a piezoelectric ring with specialized contacting elements and segmented electrodes.

Main Results:

  • Identified specific vibration frequencies (28.25 kHz for angular, 41.86 kHz for planar motion).
  • Achieved maximum payload angular velocity of 30.12 RPM and linear motion of 29.34 mm/s.
  • Demonstrated directional control of payload motion using segmented electrodes.

Conclusions:

  • The developed piezoelectric robot effectively achieves 5-DOF motion control for spherical payloads.
  • The segmented electrode design provides precise directional manipulation capabilities.
  • Numerical and experimental results confirm the robot's potential for micro-manipulation tasks.