Research Article
Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method
Table 1
Beam and piezoelectric properties (Example
6.1).
| | Beam | Actuators | Sensors |
| | Young’s modulus (GPa) | 210 × 109 | 139 × 109 | 139 × 109 | | Mass density (kg m−3) | 7500 | 7810 | 7810 | | Stress constant (m V−1) | — | 11 × 10−11 | — | | Strain constant (Vm N−1) | — | — | 0.01 | | Thickness (m) | 2 × 10−3 → 1.6 × 10−3 | 40 × 10-6 | 40 × 10-6 | | Width (m) | 0.03 | 0.03 | 0.03 | | Length (m) | 0.5 | — | — |
|
|
