압전소자 구동장치를 이용한 로봇 손목기구의 개발

Development of a robot wrist using a piezo actuator

Having very small linear displacement, piezoelectric actuators have been restricted in robotic application as positioning devices. In this paper, a mechanical amplifier was developed to enhance the displacement of piezoelectric actuator and the corresponding driving circuit was designed. This equipment was integrated as a robotic wrist having 2 D.O.F micropositioning capability. Each joint was analysed in mechanical and dynamic view points. Experimental result showed that this device has Some hysteresis but could be used as vibratory robotic wrist with relatively high frequency. For more fine positioning control, a closed loop approach must be taken into account.