ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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12
Issue
vol 59 / DECEMBER, 2016
Article
UDC 621.865.8(075.8)

STUDY OF PIEZOELECTRIC ACTUATORS OF A MICROROBOT

P. Y. Gedko
St. Petersburg State Polytechnical University, Department of Automatic Machinery; Post-Graduate Student


A. B. Smirnov
St. Petersburg State Polytechnical University, Department of Automatic Machinery;


S. I. Pugachev
State Marine Technical University of St. Petersburg, Department of Physics; Professor


E. Y. Rytov
State Marine Technical University of St. Petersburg, Department of Physics;


Abstract. Tubular piezoelectric actuators of microrobot based on spherical joint with parallel kinematics are considered. The effect is revealed of the ball rotation caused by the piezoactuator asymmetry when operated at ultrasonic resonance frequencies. The ball motion parameters are calculated. Technology of the actuators manufacturing is analyzed, advantages of application of ultrasonic shaping of the tubes are demonstrated.
Keywords: tubular piezoactuator, microrobot, ball, harmonic oscillations, dissymmetry, calculation of parameters, ultrasonic shaped piezotube, spherical joint