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dc.contributor.authorSchultz, Joshua
dc.contributor.authorUeda, Jun
dc.date.accessioned2015-05-26T18:01:14Z
dc.date.available2015-05-26T18:01:14Z
dc.date.issued2013-10
dc.identifier.citationJoshua Schultz and Jun Ueda, “Nested piezoelectric cellular actuators for a biologically inspired camera positioning mechanism,” IEEE Transactions of Robotics, , Vol. 29, No. 5, pp. 1125-1138, 2013. DOI: http://dx.doi.org/10.1109/TRO.2013.2264863en_US
dc.identifier.urihttp://hdl.handle.net/1853/53356
dc.descriptionCopyright © IEEEen_US
dc.description.abstractUsing successive stages, or nesting compliant amplification mechanisms, soft actuators with performance suitable for robotic applications can be constructed with piezoelectric ceramic as the active material. This paper presents a mathematical framework that describes the interactions among the various amplification mechanisms in a hierarchical nested structure. A formal treatment of nested amplification mechanisms results in two theorems that describe the stiffness properties of the whole actuator in terms of the properties of each mechanism in the hierarchy. These theorems show that the stiffness properties of the actuator can be computed by considering only the outermost few layers in the nested configuration. By virtue of this hierarchical structure, the actuator also assumes a cellular structure; it functions by summing the effects of on-off inputs coupled by a flexible connective medium. This requires a paradigm shift when selecting control strategies. A multilayer strain amplification mechanism is designed to meet the required range of travel for a biologically inspired camera positioning mechanism, and a switching control method for the actuator's 16 on-off inputs is discussed.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectBiologically inspired systemsen_US
dc.subjectCompliant mechanismsen_US
dc.subjectNested piezoelectric cellular actuatorsen_US
dc.subjectPiezoceramicsen_US
dc.subjectPiezoelectric actuatorsen_US
dc.titleNested piezoelectric cellular actuators for a biologically inspired camera positioning mechanismen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.embargo.termsnullen_US


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