Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Dielectric,ferroelectric, and piezoelectric properties of lead-free Ba0.95Ca0.05Ti1-xZrxO3 ceramics

Abstract

Ba_0.95Ca_0.05Ti_1-xZr_xO₃ (BCTZO) ceramics were prepared by a solid state reaction method. The samples were characterized by X-ray diffraction (XRD), Scanning electron microscopy (SEM) and X-ray absorption near edge structure (XANES). The ceramics exhibit a pure perovskite structure. The average grain size gradually decreases with increasing Zr concentration. XANES results indicate that the intensities of pre-edge peaks dropped with increasing Zr concentration. The BCTZO ceramic of x?=?0.05 has the optimum electrical properties with the maximum dielectric constant (ε'_m), remanent polarization (2P_r), coercive electric field (2E_c) and piezoelectric charge constant (d₃₃) of 7,244, 12.54 (μC/cm²), 5.29 (kV/cm) and 288 (pC/N), respectively.     

Crystallization and spectroscopic properties in Er3+ doped oxyfluorogermanate glass ceramics containing Na

The Er³⁺ doped oxyfluorogermanate glasses, with a composition containing Na element, were synthesized by the conventional melting–quenching technique. When Na element was introduced into the composition of oxyfluorogermanate glass, the crystals behavior was investigated in details. Depending on the annealing procedure supplied, thermal annealing of precursor glasses in the system GeO₂/BaF₂/AlF₃/Na₂O/NaF/ZnO/GdF₃/ErF₃ led to the precipitation of different crystal phase nanocrystals. It was confirmed the nanocrystals in GC600 is orthorhombic NaBaAlF₆ which led to enhance obviously in the UC luminescence of Er³⁺. However, the nanocrystals in G585 led to decrease in the UC luminescence, which indicated few Er ions enter into the lattice of this nanocrystal phase. The reason of the decrease in UC emission intensity of GC585 was analyzed.     

Pressure control of an electro-hydraulic actuated clutch via novel hysteresis model

This paper mainly focuses on the development of pressure tracking control logic of electro-hydraulic actuators for vehicle application. This is done to improve and ensure the performance of a precise lower-level controller for evolving modern shift control logic. The required performance is obtained by hysteresis model-based feed-forward control and additional feedback control. The hysteresis and the time delay, which adversely affect pressure control, are well known nonlinear behaviors in electro-hydraulic actuators. In order to cope with the hysteresis, a novel hysteresis model is proposed based on a physical phenomenon. A mathematical model based on a characteristic curve obtained in preliminary experiments is presented using only one tuning parameter, and this model can be inverted easily to construct a feed-forward controller. In addition, a feedback controller is designed considering the stability margin of a time delay system. The feedback control inputs ensure compensation of the feed-forward errors caused by model error and uncertainty. The proposed controller is designed to lower computational cost considering applicability for production vehicles. As a result, the developed pressure controller is applied to a transmission control unit of a production vehicle and verified experimentally for various driving scenarios.     

基于压电陶瓷动态信息的结构裂纹识别方法

利用压电陶瓷的动态特性和压电系统的动态信息,对铝梁的裂纹损伤进行了分析研究。随着梁裂纹尺寸的增加,压电陶瓷片的导钠幅值下降,且系统固有频率减小。利用导钠幅值的变化和系统的动态信息,可以对裂纹的位置和尺寸大小进行识别。实验证明该方法的有效性。     

Evaluation of the Properties of Si3N4/Si3N4 Joint Brazed Using a Filler Alloy Containing Pd

Si3N4 ceramic was jointed to itself using a filler alloy of Cu76.5Pd8.5Ti15, and the mechanical properties of the jointwere measured and analyzed. By using a filler alloy of Cu76.5Pd8.5Ti15, the SisN4/SisN4 joints were obtained bybrazing at 1373～1473 K f     

从PZT体系看无铅压电陶瓷的可能应用

总结了主要以(Bi0.5Na0.5)TiO3和NaNbO3为基的无铅压电陶瓷的性能，以Pb(Ti，Zr)TiO3基二元系、三元系压电陶瓷的性能与应用为参考，分析了无铅压电陶瓷可能的器件应用。此外，还对拓宽无铅压电陶瓷应用需要改进的性能提出了建议。     

用于高频谐振器的PbTiO_3基压电陶瓷

传统的PZT压电陶瓷的相对介电常数较大,一般为1 000以上,用于高频谐振器不易与线路匹配;而PbTiO3基压电陶瓷的相对介电常数较小,一般仅为200左右,对于10 MHz以上频率的谐振器,用PbTiO3基压电陶瓷作为压电振子是最佳的选择。本文主要研究用于高频谐振器的MnO2和Nd2O3改性PbTiO3基压电陶瓷的性质。PbTiO3基压电陶瓷的性质的改善是与此种陶瓷的制备工艺,显微结构和电导机制紧密相关的。     

提高自蔓延高温合成陶瓷内衬钢管性能的研究

在概括了自蔓延高温合成陶瓷内衬钢管的制备原理基础上，从降低陶瓷层孔隙率，减少陶瓷层裂纹和提高陶瓷层结合强度等方面，论述了提高自蔓延高温合成陶瓷内衬钢管性能的措施，对自蔓延高温合成陶瓷内衬钢管的应用现状及展望进行了评述。     

Adhesive element modelling and weighted static shape control of composite plates with piezoelectric actuator patches

A novel finite element model is presented for static and dynamic analysis of composite plates integrated with a laminated piezoelectric layer, a host laminated composite plate and an adhesive layer between them. A new adhesive element is developed which includes both peel and shear effects in the adhesive layer based on first‐order shear deformation plate theory. The thin adhesive layer between the piezoelectric layer and the host plate is modelled by assuming that it carries constant shear and peel strains throughout its thickness. In addition, a weighted static shape control scheme for finding the optimal voltage distribution for static shape control is given. By selecting different weighting matrices, a variety of items such as displacements, slopes, curvatures, strains and even generalized forces, can be included in finding the optimal actuating voltage for static shape control. The present model is validated by comparing with those results available in the literature. The numerical results show that the weighted linear least method can give a satisfactory voltage distribution to best match the desired shape. Copyright © 2004 John Wiley & Sons, Ltd.