Title:
Nested piezoelectric cellular actuators for a biologically inspired camera positioning mechanism

dc.contributor.author Schultz, Joshua
dc.contributor.author Ueda, Jun
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.date.accessioned 2015-05-26T18:01:14Z
dc.date.available 2015-05-26T18:01:14Z
dc.date.issued 2013-10
dc.description Copyright © IEEE en_US
dc.description.abstract Using successive stages, or nesting compliant amplification mechanisms, soft actuators with performance suitable for robotic applications can be constructed with piezoelectric ceramic as the active material. This paper presents a mathematical framework that describes the interactions among the various amplification mechanisms in a hierarchical nested structure. A formal treatment of nested amplification mechanisms results in two theorems that describe the stiffness properties of the whole actuator in terms of the properties of each mechanism in the hierarchy. These theorems show that the stiffness properties of the actuator can be computed by considering only the outermost few layers in the nested configuration. By virtue of this hierarchical structure, the actuator also assumes a cellular structure; it functions by summing the effects of on-off inputs coupled by a flexible connective medium. This requires a paradigm shift when selecting control strategies. A multilayer strain amplification mechanism is designed to meet the required range of travel for a biologically inspired camera positioning mechanism, and a switching control method for the actuator's 16 on-off inputs is discussed. en_US
dc.embargo.terms null en_US
dc.identifier.citation Joshua Schultz and Jun Ueda, “Nested piezoelectric cellular actuators for a biologically inspired camera positioning mechanism,” IEEE Transactions of Robotics, , Vol. 29, No. 5, pp. 1125-1138, 2013. DOI: http://dx.doi.org/10.1109/TRO.2013.2264863 en_US
dc.identifier.uri http://hdl.handle.net/1853/53356
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Biologically inspired systems en_US
dc.subject Compliant mechanisms en_US
dc.subject Nested piezoelectric cellular actuators en_US
dc.subject Piezoceramics en_US
dc.subject Piezoelectric actuators en_US
dc.title Nested piezoelectric cellular actuators for a biologically inspired camera positioning mechanism en_US
dc.type Text
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Ueda, Jun
relation.isAuthorOfPublication 7ff601c5-b262-4830-8a06-b75c55f5f1c8
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