TY - GEN
T1 - Dynamic modeling of an innovative piezoelectric actuator for minimally invasive surgery
AU - Edinger, Benjamin
AU - Frecker, Mary
AU - Gardner, John
N1 - Copyright:
Copyright 2004 Elsevier Science B.V., Amsterdam. All rights reserved.
PY - 1999
Y1 - 1999
N2 - A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.
AB - A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.
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M3 - Conference contribution
AN - SCOPUS:0033294121
SN - 0791816427
T3 - American Society of Mechanical Engineers, Aerospace Division (Publication) AD
SP - 183
EP - 188
BT - American Society of Mechanical Engineers, Aerospace Division (Publication) AD
PB - ASME
T2 - Adaptive Structures and Material Systems - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
Y2 - 14 November 1999 through 19 November 1999
ER -