Simulation networks of piezobimorphs for robotic actuators

The case of a clamped bimorph cantilever actuator is considered. The exact admittance matrix has previously been determined from energy considerations. A change of variables makes it possible to convert this to a succinct, normalized form. This is then synthesized in equivalent network terms using electrical and mechanical capacitors coupled by ideal transformer interconnections. Network simplifications are also given. These descriptions are particularly useful for treating actuator behavior as part of the overall electrical circuits in which they are embedded