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Precise positioning mechanism utilizing rapid deformations of piezoelectric elements

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4 Author(s)
Higuchi, T. ; Inst. of Ind. Sci., Tokyo Univ., Japan ; Yamagata, Y. ; Furutani, K. ; Kudoh, K.

A driving method suitable for a micro mechanism is introduced. It utilizes friction and inertial force caused by rapid deformations of piezoelectric elements. A one-dimensional linear positioner using this mechanism consists of one main object put on a guiding surface, a piezo, and a weight. The weight is connected to one end of the main object via the piezo. By controlling rapid extension or contraction of the piezo, it can make step-like movements of several nanometers up to ten micrometers bidirectionally against friction. By repeating this step movement, it can move for a long distance. Using this mechanism, two types of joints for micro robot arm are developed. One is a simple rotating joint with an arm of 5 cm, and the other is a three-degree-of-freedom (DOF) joint with an 8 cm arm. Minimum step movements of the two joints were smaller than 0.1 μm and maximum velocities were larger than 2 mm/sec at the end of the arm. Combining two joints, a four-DOF micro robot arm was developed

Published in:

Micro Electro Mechanical Systems, 1990. Proceedings, An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots. IEEE

Date of Conference:

11-14 Feb 1990