Control of piezorobots' trajectories for nanosatellite stabilization

Jūratė Janutėnaitė-Bogdanienė

Doctoral dissertation

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Rapid industrial advancement requires novel ideas, new scientific approaches and effective technologies that would ensure quality and precision. Application of piezoelectric actuators in robotics opens many possibilities to create systems with extreme precision and control. A very important step in the development of autonomous robots is the formation of motion trajectories. Classical inter­polation methods used for formation of the trajectories are suitable only when robots have wheels, legs or other parts for motion transmission. Piezorobots that are analyzed in this dissertation have no additional components that create motion, only contact points with the static plane. Therefore, traditional motion formation methods are not suitable and a problem arises how to define motion trajectory of such device.

The aim of this work is to create a trajectory control algorithm of multi-degrees-of-freedom piezorobot used for nanosatellite stabilization.

In order to achieve the objective, the following tasks had to be solved: to analyze constructions of precise piezorobots, their operating principles and motion formation methods; to analyze stabilization problems of satellites and application of multi-degrees-of-freedom piezorobots for nanosatellite stabili­zation; to create piezorobots’ motion formation algorithms according to electrode excitation schemes, to perform an experimental research; to determine quan­titative characteristics of the constructed piezorobots and their motion trajectories.

The introduction describes the importance and novelty of this thesis, goals of this work, its practical value and defended statements. The first chapter analyses the principals of ultrasonic devices, gives a thorough review of constructions of ultrasonic devices with multi-degrees-of-freedom. The second chapter provides a review of satellite stabilization principles and how multi-degrees-of-freedom piezorobots can be applied for nanosatellite stabilization. Motion formation methods for ultrasonic devices with multi-degrees-of-freedom are presented. The third chapter presents the detailed analysis of different piezorobots. In the fourth chapter experimental results are provided. Trajectory planning of piezorobot is shown, results are compared to numerical calculations performed in the third chapter. The conclusions about applicability of piezorobots’ motion formation algorithms according to electrode excitation schemes are given. Seven articles focusing on the subject of the dissertation have been published, two presentations on the subject have been presented in conferences at international level.

The research for the dissertation has been funded by the Lithuanian State Science and Studies Foundation: European Regional Development Fund, Project No. DOTSUT-234 and Research Council of Lithuania, Project No. MIP-084/2015.

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