Open Access
ARTICLE
Active Control of a Piezoelectric Actuated Four-Bar Mechanism Deployed in Robotics Applications
Qais A. Khasawneh1,3, Mohammad Abdel Kareem Jaradat1,2, Mohammad Al-Shabi4, Hala Khalaf1
1 Mechanical Engineering Department, Jordan University of Science and Technology, P.O.Box 3030 Irbid, Jordan
2 Mechanical Engineering Department, American University of Sharjah, P.O.Box (2666) Sharjah, UAE
3 Electromechanical Engineering Department, Institute of Applied Technology, Abu Dhabi, UAE
4 Mechanical Engineering Department, University of Sharjah, P.O.Box (27272), Sharjah, UAE
* Corresponding Author: Qais A. Khasawneh, >
Intelligent Automation & Soft Computing 2018, 24(2), 443-457. https://doi.org/10.31209/2018.100000008
Abstract
This work presents a new micro-positioning system that is implemented in an
inchworm robot to move into desired locations. The system consists of four-bar
mechanism; one link is fixed, and each one of the remaining links carries a
piezoelectric actuator (PZT). PZTs are specifically chosen since they provide fast
response and small displacements; up to ±30 µm for ±100 Volts. The system’s
mathematical model is derived and is numerically simulated by MATLAB. Three
fuzzy PI controllers, which are tuned automatically by genetic algorithm, are
designed to control the system. Results indicate an error of less than 1%
although disturbances present.
Keywords
Cite This Article
APA Style
Khasawneh, Q.A., Jaradat, M.A.K., Al-Shabi, M., Khalaf, H. (2018). Active control of a piezoelectric actuated four-bar mechanism deployed in robotics applications. Intelligent Automation & Soft Computing, 24(2), 443-457. https://doi.org/10.31209/2018.100000008
Vancouver Style
Khasawneh QA, Jaradat MAK, Al-Shabi M, Khalaf H. Active control of a piezoelectric actuated four-bar mechanism deployed in robotics applications. Intell Automat Soft Comput . 2018;24(2):443-457 https://doi.org/10.31209/2018.100000008
IEEE Style
Q.A. Khasawneh, M.A.K. Jaradat, M. Al-Shabi, and H. Khalaf "Active Control of a Piezoelectric Actuated Four-Bar Mechanism Deployed in Robotics Applications," Intell. Automat. Soft Comput. , vol. 24, no. 2, pp. 443-457. 2018. https://doi.org/10.31209/2018.100000008