ABSTRACT
Smart robotic manipulators and machine structures/components with integrated self-monitoring and control capabilities are becoming more important in the development of new-generation intelligent manufacturing systems. In this report, a generic integrated piezoelectric sensor/actuator design and its applications to smart machines/robots are presented. The report is divided into two parts (chap ters): (1) Theory and experiments; and (2) finite element formulation and analy sis. In Part 1, a generic multilayered piezoelectric sensor/actuator theory for a generic distributed parameter system (a continuum) is derived using Love’s theory, Hamilton’s principle, and piezoelectric theory. The derived equation can be simplified to account for many other common geometries (e.g., plates, cylin ders, beams, etc.), which are the basic components of robotic and machine structures/components. A simple reduction procedure is proposed and examples are demonstrated in case studies. Physical systems which include a flexible manipulator and a smart high-precision microactuator are studied analytically and experimentally.
