Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Motion Control of Inch-worm

이송자벌레의 운동제어

  • Yun, Jae-Heon (Graduate School of Kumoh National Institute of Technology) ;
  • Kim, Yeong-Sik (Dept.of Machanical Engineering, Kumoh National Institute of Technology) ;
  • Kim, In-Su (Dept.of Machanical Engineering, Kumoh National Institute of Technology)
  • 윤재헌 (금오공과대학교 기전공학과 대학원) ;
  • 김영식 (금오공과대학교 기계공학부) ;
  • 김인수 (금오공과대학교 기계공학부)
  • Published : 2002.09.01
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Abstract

Solid state deformation of PZT is effective for the micron scale displacement. Inch-worm gets large linear displacement by incrementally summing displacements of PZT actuators. Dynamic stiffness of inch-worm is generally low compared to its driving condition due to the small size and light weight of inch-worm. Mechanical vibration induced by low stiffness may degenerate the motion accuracy of the inch-worm. In this paper, dynamic characteristics of the inch-worm are modeled by using the frequency domain curve fitting based on the experimental frequency response function. SMC (sliding mode control) is examined for motion control of the inch-worm. Simulation and experimental results show that the inch-worm with SMC scheme is feasible for the precise displacement device.

Keywords

References

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