Characteristics of optical actuator-servomechanisms using bimorph optical piezo-electric actuator

Author

Fukuda, Toshio ; Hattori, Shinobu ; Arai, Fumihito ; Matsuura, Hideo ; Hiramatsu, Tsutomu ; Ikeda, Yoichi ; Maekawa, Akinari

Author_Institution

Dept. of Mechano-Inf. & Syst., Nagoya Univ., Japan

fYear

1993

fDate

2-6 May 1993

Firstpage

618

Abstract

A bimorph type of the optical piezoelectric actuator (PLZT) which has relatively large displacement is discussed. This optical actuator works under the on-off control of the UV beam irradiation. The response characteristics of the actuator for the UV beam irradiation is shown. The response time of this actuator is improved compared with the previous one. An optical actuator-servosystem is proposed. Based on the mathematical model of the optical actuator, the transfer function of the optical servo control system is identified, and experiments are conducted. The experimental results agree with simulation results based on the mathematical model. Two application examples of this actuator are given. One is an optical gripper, while the other is an optical mobile robot

Keywords

electric actuators; manipulators; mobile robots; on-off control; servomechanisms; PLZT; UV beam irradiation; bimorph optical piezo-electric actuator; on-off control; optical actuator-servomechanisms; optical gripper; optical mobile robot; response characteristics; response time; transfer function; Delay; Electron optics; Electrostatic actuators; Mathematical model; Optical control; Optical devices; Optical noise; Piezoelectric actuators; Servomechanisms; Servosystems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291890

Filename

291890