Piezo — electrically operated mini robot

One of the options for operating mini robots, with sub-milimetrical displacements on its coordinate axes that have nano-metrical positioning precisions is represented by piezoelectric actuators. So far most actuators are operated using tensions of the electric current in the shape of impulses, each impulse causing a deformation/displacement ldquoall or nothingrdquo. The paper shows the construction of a prototype linear piezoelectric actuator functionally based on the continuous characteristic tension-deformation of primary piezoelectric structures - layers and disc layers. Based on a complete set of experimental researches, done in a ldquowhite roomldquo with controlled temperature, the optimal characteristics were determined for: tension - deformation, tension - force (both hysteresis influenced), frequency - displacement and displacement - temperature, researches that were later continued for the layered piezoelectric actuator prototype The experimental model for a linear unit for operation on the z axis is shown, that has a positioning precision for displacements of (0...10)mum, traced and controlled by a capacitive transducer for displacement with a sub-nanometric resolution and the Cartesian coordinates for the mini robotpsilas displacements are shown in the final part of the paper.