Application Cases

【Overview】
In this study, the Aigtek ATA-62082 power amplifier was used to build a performance testing platform for micro-piezoelectric robots. The single-energy-input, multi-motion-output mode enables the robot to balance speed and adaptability. In vibration mode, the hybrid piezoelectric mobile robot (HPMR) can operate at a speed of up to 12.3 BL/s and achieve a displacement resolution of 0.3 μm. With the conical rotor assembly, the rotor can run at 890 rpm, achieving a displacement resolution of 7.28 mrad. In rotation mode, the robot demonstrates its multitasking capabilities, including moving, carrying loads, operating on surfaces with varying roughness, crossing obstacles, and resisting impacts. The results indicate that the HPMR can achieve fast, high-resolution movement with high adaptability, opening up possibilities for its use in real-world mobile inspection tasks.

Experiment Name: Vibration Performance Testing of a Micro-Piezoelectric Robot

Research Direction: Micro-Robotics

Experimental Content:
A performance testing platform for a micro-piezoelectric robot was designed and built. The vibration characteristics were studied and analyzed by driving the robot with excitation signals.

Testing Equipment:
NI data acquisition card, ATA-62082 power amplifier, laser displacement sensor, etc.

Experimental Procedure:

Figure 1: Experimental Test System Setup

Vibration response tests were conducted on the fabricated prototype. The experimental setup, as shown in Figure 1, mainly includes a PC, a data acquisition card, a power amplifier, and a laser displacement acquisition system. During the experiment, the data acquisition card generated sinusoidal voltage signals, which were amplified by the power amplifier to excite the PZT element. The laser displacement acquisition system collected the vibration displacement of the prototype, while the controller and PC were responsible for receiving and processing the data returned by the laser head.

Experimental Results:

Figure 2: Experimental Results

Two sets of sinusoidal signals with a phase difference of 90°, an excitation frequency of 10.8 kHz, and an amplitude of 100 Vpp were applied to the PZT element. The laser head measured the displacement of a point on the prototype along the y- and z-directions, with results shown in Figures 2(a) and (b). Figure 2(c) shows the vibration displacement within 0–1 ms, which exhibits a sinusoidal waveform. Specifically, the amplitudes in the y- and z-directions were 3.19 μm and 3.33 μm, respectively, with a relative error of 4.4%. Figure 2(d) shows the  displacement trajectory over 0–5 ms, which is approximately elliptical. The results demonstrate good agreement between the experimental and simulation results.

Advantages of Aigtek Amplifiers in This Application:

1. High voltage output capability – Ensures that the PZT element achieves the excitation intensity, guaranteeing the validity of vibration amplitude measurements.

2. Wide bandwidth and high linearity – Accurately reproduces the dual-channel sinusoidal excitation signals with a 90° phase difference, ensuring the fidelity of the vibration  trajectory analysis.