This article describes the development of piezoelectric micro-actuators for use in micro-robotic systems, and surveys controllers and power electronics for such actuators to meet power limitations of terrestrial micro-robots with high mobility. A thin-film lead-zirconate-titanate lateral actuator design with one micron stroke and several millinewtons of actuation force is described, and sample experimental results provided. A method for integrating these actuators with flexible silicon micro-structures, and implications for micro-robotic pay-load capacity are presented. On-off control is proposed as a method to minimize energy usage by piezoelectric actuators and driving circuitry when moving a micro-robotic appendage based on these designs. Low efficiency of voltage converters and large power consumption of sensing circuitry are identified as barriers to further enhancing servo capabilities of bio-inspired terrestrial micro-robots.
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ASME 2008 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
October 28–30, 2008
Ellicott City, Maryland, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-4331-4
PROCEEDINGS PAPER
Low-Power Switching Control Schemes for Piezoelectric Micro-Robotic Actuators Available to Purchase
Kenn Oldham,
Kenn Oldham
University of Michigan, Ann Arbor, MI
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Bongsu Hahn,
Bongsu Hahn
University of Michigan, Ann Arbor, MI
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Biju Edamana,
Biju Edamana
University of Michigan, Ann Arbor, MI
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Ronald Polcawich,
Ronald Polcawich
U.S. Army Research Laboratory, Adelphi, MD
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Jeffrey Pulskamp
Jeffrey Pulskamp
U.S. Army Research Laboratory, Adelphi, MD
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Kenn Oldham
University of Michigan, Ann Arbor, MI
Bongsu Hahn
University of Michigan, Ann Arbor, MI
Biju Edamana
University of Michigan, Ann Arbor, MI
Ronald Polcawich
U.S. Army Research Laboratory, Adelphi, MD
Jeffrey Pulskamp
U.S. Army Research Laboratory, Adelphi, MD
Paper No:
SMASIS2008-524, pp. 823-830; 8 pages
Published Online:
July 13, 2009
Citation
Oldham, K, Hahn, B, Edamana, B, Polcawich, R, & Pulskamp, J. "Low-Power Switching Control Schemes for Piezoelectric Micro-Robotic Actuators." Proceedings of the ASME 2008 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Smart Materials, Adaptive Structures and Intelligent Systems, Volume 1. Ellicott City, Maryland, USA. October 28–30, 2008. pp. 823-830. ASME. https://doi.org/10.1115/SMASIS2008-524
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