Modeling and simulation of a piezoelectric bending actuator-based parallel robot
by Garud, Anjana S., M.S., UNIVERSITY OF HOUSTON-CLEAR LAKE, 2008, 74 pages; 1462809

Abstract:

Piezoelectric bending actuators provide a means to achieve precise robot manipulator control at the micro- and nano-scales. However, bending actuators are relatively flexible, reducing available force and increasing difficulty of control. Thus, achieving multiple degrees of freedom using piezoelectric bending actuators in a serial format is challenging. In this work a parallel two-degree-of-freedom micromanipulator driven by standard piezoelectric bending actuators is described. This manipulator exploits the advantages of piezoelectric bending actuators and the increased rigidity provided by the parallel robot architecture. Experimental characterization of actuator dynamics and simulation-based experiments in manipulator control are presented.

 
AdviserJames B. Dabney
SchoolUNIVERSITY OF HOUSTON-CLEAR LAKE
SourceMAI/ 47-04, p. , Apr 2009
Source TypeThesis
SubjectsMechanical engineering; Robotics
Publication Number1462809
Adobe PDF Access the complete dissertation:
 

» Find an electronic copy at your library.
  Use the link below to access a full citation record of this graduate work:
  http://gateway.proquest.com/openurl%3furl_ver=Z39.88-2004%26res_dat=xri:pqdiss%26rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation%26rft_dat=xri:pqdiss:1462809
  If your library subscribes to the ProQuest Dissertations & Theses (PQDT) database, you may be entitled to a free electronic version of this graduate work. If not, you will have the option to purchase one, and access a 24 page preview for free (if available).

About ProQuest Dissertations & Theses
With over 2.3 million records, the ProQuest Dissertations & Theses (PQDT) database is the most comprehensive collection of dissertations and theses in the world. It is the database of record for graduate research.

The database includes citations of graduate works ranging from the first U.S. dissertation, accepted in 1861, to those accepted as recently as last semester. Of the 2.3 million graduate works included in the database, ProQuest offers more than 1.9 million in full text formats. Of those, over 860,000 are available in PDF format. More than 60,000 dissertations and theses are added to the database each year.

If you have questions, please feel free to visit the ProQuest Web site - http://www.proquest.com - or call ProQuest Hotline Customer Support at 1-800-521-3042.