Details
| Original language | English |
|---|---|
| Title of host publication | Dynamics, Vibration and Control |
| Publisher | American Society of Mechanical Engineers(ASME) |
| ISBN (print) | 9780791856246 |
| Publication status | Published - 2 Apr 2013 |
| Externally published | Yes |
| Event | ASME 2013 International Mechanical Engineering Congress and Exposition, IMECE 2013 - San Diego, CA, United States Duration: 15 Nov 2013 → 21 Nov 2013 |
Publication series
| Name | ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) |
|---|---|
| Volume | 4 A |
Abstract
Ultrasonic piezomotors have been applied as a drive concept in miniaturized robot systems for many years. They have various beneficial characteristics, such as low costs, high accuracy and velocity. This has been demonstrated, with instance, with APIS, a miniaturized robot developed at the Technische Universität Braunschweig. With the example of APIS, this contribution discusses the challenge of an offline signal processing techniques in order to combine different excitation methods for the piezomotors used in this robot. Since each excitation method influences the motor characteristic in a variety of ways, this research is motivated by desire for an optimal adaptation of certain features to a given trajectory, such as velocity, acceleration, moving direction or step resolution. Thus, our approach is to develop different ways to split a given trajectory into segments with regard to the requirements of the motor. So these segments can be linked to an excitation method which brings about the desired features. To this end, model trajectories are first generated and reasonable excitation methods for the piezomotor are identified and characterized. Key features are velocity, acceleration, moving direction and step resolution. Apart from defining key features, an assessment algorithm has been developed along with suitable weighting criteria. Offline signal algorithm means that the trajectory will be analyzed and that the arrangement of suitable excitation methods will be defined before the motion process starts. Finally the results, that is, each model signal together with the associated excitation method, are shown and validated. To achieve better results, possibilities for future developments are identified.
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
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Dynamics, Vibration and Control. American Society of Mechanical Engineers(ASME), 2013. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4 A).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - An offline-signal processing algorithm for combining superior excitation methods for an ultrasonic piezo motor
AU - Borchert, Gunnar
AU - Dröder, Klaus
AU - Raatz, Annika
PY - 2013/4/2
Y1 - 2013/4/2
N2 - Ultrasonic piezomotors have been applied as a drive concept in miniaturized robot systems for many years. They have various beneficial characteristics, such as low costs, high accuracy and velocity. This has been demonstrated, with instance, with APIS, a miniaturized robot developed at the Technische Universität Braunschweig. With the example of APIS, this contribution discusses the challenge of an offline signal processing techniques in order to combine different excitation methods for the piezomotors used in this robot. Since each excitation method influences the motor characteristic in a variety of ways, this research is motivated by desire for an optimal adaptation of certain features to a given trajectory, such as velocity, acceleration, moving direction or step resolution. Thus, our approach is to develop different ways to split a given trajectory into segments with regard to the requirements of the motor. So these segments can be linked to an excitation method which brings about the desired features. To this end, model trajectories are first generated and reasonable excitation methods for the piezomotor are identified and characterized. Key features are velocity, acceleration, moving direction and step resolution. Apart from defining key features, an assessment algorithm has been developed along with suitable weighting criteria. Offline signal algorithm means that the trajectory will be analyzed and that the arrangement of suitable excitation methods will be defined before the motion process starts. Finally the results, that is, each model signal together with the associated excitation method, are shown and validated. To achieve better results, possibilities for future developments are identified.
AB - Ultrasonic piezomotors have been applied as a drive concept in miniaturized robot systems for many years. They have various beneficial characteristics, such as low costs, high accuracy and velocity. This has been demonstrated, with instance, with APIS, a miniaturized robot developed at the Technische Universität Braunschweig. With the example of APIS, this contribution discusses the challenge of an offline signal processing techniques in order to combine different excitation methods for the piezomotors used in this robot. Since each excitation method influences the motor characteristic in a variety of ways, this research is motivated by desire for an optimal adaptation of certain features to a given trajectory, such as velocity, acceleration, moving direction or step resolution. Thus, our approach is to develop different ways to split a given trajectory into segments with regard to the requirements of the motor. So these segments can be linked to an excitation method which brings about the desired features. To this end, model trajectories are first generated and reasonable excitation methods for the piezomotor are identified and characterized. Key features are velocity, acceleration, moving direction and step resolution. Apart from defining key features, an assessment algorithm has been developed along with suitable weighting criteria. Offline signal algorithm means that the trajectory will be analyzed and that the arrangement of suitable excitation methods will be defined before the motion process starts. Finally the results, that is, each model signal together with the associated excitation method, are shown and validated. To achieve better results, possibilities for future developments are identified.
UR - http://www.scopus.com/inward/record.url?scp=84903443982&partnerID=8YFLogxK
U2 - 10.1115/IMECE2013-64294
DO - 10.1115/IMECE2013-64294
M3 - Conference contribution
AN - SCOPUS:84903443982
SN - 9780791856246
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Dynamics, Vibration and Control
PB - American Society of Mechanical Engineers(ASME)
T2 - ASME 2013 International Mechanical Engineering Congress and Exposition, IMECE 2013
Y2 - 15 November 2013 through 21 November 2013
ER -