Abstract
In this paper, we present a novel modeling methodology of a hexapod piezo-actuated positioning platform, which is driven by six parallel-kinematic preloaded piezo actuators. A composite electro-mechanical model, which can describe the dynamic characteristics of the power amplifier, the inverse piezoelectric effect, and the dynamics of the hexapod mechanism, is presented. The effectiveness of the proposed electro-mechanical model is demonstrated experimentally. The experimental results show that the proposed model can accurately portray the hysteresis and dynamics characteristics of the hexapod piezo-actuated positioning platform. The proposed modeling methodology can decouple the 6-DOF coupled platform, which gives a broad range of possibilities for model-based controller design on coupled piezo-actuated positioning platform.
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All data included in this study are available upon request by contact with the corresponding author
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Funding
The authors wish to acknowledge the financial support by National Natural Science Foundation of China (Grant No. 51975298), Natural Science Foundation of Jiangsu Province, China (Grant No. BK20181301), and Fundamental Research Funds for the Central Universities (Grant No. 30921011105).
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Zhu, W., Jiang, M., Yang, F. et al. Modeling of a hexapod piezo-actuated positioning platform. Multibody Syst Dyn (2023). https://doi.org/10.1007/s11044-023-09917-5
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DOI: https://doi.org/10.1007/s11044-023-09917-5