Coordinated Control of Precision Conveyor Based on Array Piezoelectric Actuators

Due to the problems of the traditional transmission platform device, such as low transmission accuracy and single transmission path, a precision conveyor based on array piezoelectric actuators is present. In order to meet the requirements of the two-DOF drive motion, a structure of double-V orthogonal two-DOF piezoelectric actuator is adopted. The advantages and disadvantages of three different layout methods are discussed, and the layout of four ultrasonic drivers with regular hexagon for conveyor is determined. The working principle of the ultrasonic piezoelectric transmission platform module is classified and discussed according to the regular hexagon layout, and the output speed of each ultrasonic driver under different required motion angles is obtained, so as to achieve the effect of coordinated control. According to the layout and working principle of the GSA-based fuzzy PID controller and piezoelectric precision conveyor, the coordinated control simulation model of the precision conveyor is built on the Simulink. A coordinated control experimental platform is built to validate whether the piezoelectric conveyor can move things translationally and rotationally. The results show that the translation and rotation displacement of the carried objects can be realized.