Control of piezomechanical microrobots moving in trajectories

Eugenijus Mačerauskas

Doctoral dissertation

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Piezomechanical microrobots moving on a plane have their movement formed by inverse piezomechanical effect and mechanical movement genera-ting piezomechanical actuators. Piezorobots that are analyzed in this dissertation have no additional movement generating components such as wheels or legs. They have only direct points of contact with the static plane. Classical methods for creating movement in trajectories are not suitable for piezomechanical microrobots moving in trajectories on a plane. A complex movement requires an integrated control of active segments of the piezoelectric actuator so that piezorobot is directed in the desired path.

The aim of the research is to create and explore new control methods and algorithms for piezorobots moving in trajectories.

In order to achieve the objective, the following tasks had to be solved: to determine a suitable construction of a piezorobot for movement in trajectories in a plane, to determinate piezorobots movement generating methods, to create piezorobots control algorithms, to develop piezorobots control system hardware and software, to measure precision and velocity of moving piezorobot trajectories, analyze and create control methods for in-dividual movement tasks.

The introduction presents the investigated/formulated problem, importance of the thesis, the object of research, purpose, and tasks of the paper, scientific novelty, the practical significance of results and defended statements. In the first chapter literature on moving robots using piezoelectric motion actuators is presented.  In the second chapter, the problem of forming piezorobot motion trajectory is formulated, and detailed algorithms of trajectory formation are studied. The third chapter describes the design of the control system for piezorobots. Described hardware, and designed control software of the system. In the fourth chapter, practical experiments are described. Measurement accuracy and speed of motions experiments carried out using three different control methods were analyzed. The conclusions about the applicability of control methods for piezorobot movement in the trajectories are presented. Eight articles focusing on the subject of the discussed dissertation are published, five presentations on the subject have been given in conferences at national and international level.

The main part of the research for the dissertation has been funded by the Research Council of Lithuania, Projects No. MIP – 075/2012 and MIP-084/2015.

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