Trajectories formation for mobile multidimensional piezorobots with nanometer resolution

Asta Drukteinienė

Doctoral dissertation

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Technological Sciences, Informatics Engineering (07T).

Piezoelectric actuators are resonance systems operating principles based on high-frequency oscillations excitation, are used in structures of robots. Observed piezorobots have no additional motion generating structures, but only direct contact points with the static plane. Piezorobot motion trajectory is broken lines, therefore, the classical trajectory formation methods cannot be applied. The main object is motion trajectory formation methods. The main aim of this work is to create motion trajectory formation methods for precision multidimensional piezorobots. The application of these algorithms is piezorobot motion simulation and control software.

In order to achieve the objective, the following tasks had to be solved: to analysis of piezorobots designs, operating principles and methods of formation the motion trajectories; creation of motion trajectories formation methods taking into account possible electrode exciting schemes. In order to analyze shaped trajectories, study of motion trajectories of the quantitative characteristics was performed.

The dissertation consists of four parts including Introduction, 3 chapters, Conclusions, References, list of the author’s scientific publications on the topic of dissertation and six appendixes .

The introduction reveals the investigated problem, importance of the thesis and the object of research and describes the purpose and tasks of the paper, research methodology, scientific novelty, the practical significance of results examined in the paper and defended statements. The introduction ends in presenting the author’s publications on the subject of the defended dissertation, offering the material of made presentations in conferences and defining the structure of the dissertation.

Chapter 1 analyzes literature about robots using piezoelectric motion actuators, analysis of their structure and working principles are presented. Classical trajectory formation methods are introduced. At the end of the chapter, conclusions are given.

In chapter 2 is formulated motion trajectory formation problem. The detailed descriptions of algorithms for trajectories formation and results of mathematical model realizations are presented.

Chapter 3 investigates the quantitative characteristics of the formed trajectories. Methodology for determining the minimal deviation from the planned trajectories and the optimal piezorobot orientation angle are proposed.

6 articles focusing on the subject of the discussed dissertation are published: three articles – in the Thomson ISI data base, two articles – in conference material and scientific papers in Thomson ISI data base, one article – in material reviewed during international conferences. 6 presentations on the subject have been given in conferences at national and international level.

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160×230 mm
150 p.
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