Design and Additive Manufacture of a High-speed Piezoelectrically Actuated Compliant Mesoscale Parallel Robot

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dc.contributor.advisorOrszulik, Ryan
dc.contributor.authorTabak, Ariel
dc.date.accessioned2024-11-07T11:00:18Z
dc.date.available2024-11-07T11:00:18Z
dc.date.copyright2023-08-02
dc.date.issued2024-11-07
dc.date.updated2024-11-07T11:00:14Z
dc.degree.disciplineEarth & Space Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractThis work presents the design of an additively manufactured mesoscale parallel robot that is actuated by piezoelectric bimorphs through a compliant transmission mechanism. The piezoelectric bimorph actuators are modeled via finite element and experimentally tested to verify their performance. A transmission mechanism is designed using finite element analysis to determine the critical parameters for the conversion of the piezoelectric actuators small linear displacements to large rotational motion. Multiple transmissions are fabricated using additive manufacturing and are tested experimentally. The transmission mechanism is then used to create a six-bar parallel robot that is driven by the piezoelectric bimorphs, which is simulated and tested experimentally. The planar parallel robot is 37.88 by 20.54 millimeters in size and has a workspace of 14.36 by 8.66 millimeters for a total area of 65.6 millimeters squared. The robot is capable of following trajectories within the workspace at a frequency of up to 10 Hz.
dc.identifier.urihttps://hdl.handle.net/10315/42393
dc.languageen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectRobotics
dc.subjectMechanical engineering
dc.subject.keywordsPiezoelectricty
dc.subject.keywordsMesoscale
dc.subject.keywordsRobotics
dc.subject.keywordsCompliant mechanisms
dc.subject.keywordsFlexures
dc.subject.keywordsParallel robotics
dc.subject.keywordsParallel robots
dc.subject.keywordsFlexible mechanisms
dc.subject.keywords3D printing
dc.subject.keywordsAdditive manufacturing
dc.subject.keywordsBimorph actuators
dc.subject.keywordsMonolithic design
dc.subject.keywordsHigh-speed
dc.titleDesign and Additive Manufacture of a High-speed Piezoelectrically Actuated Compliant Mesoscale Parallel Robot
dc.typeElectronic Thesis or Dissertation

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