Research Article
Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method
Table 3
Beam and piezoelectric properties (Example
6.2).
| | Beam | Actuators | Sensors |
| | Young’s modulus (GPa) | 65 × 109 | 64 × 109 | 2 × 109 | | Mass density (kg m−3) | 2890 | 7700 | 1780 | | Stress constant (m V−1) | — | −32 × 10−11 | — | | Strain constant (Vm N−1) | — | — | 216 × 10−3 | | Thickness (m) | 1 × 10−3 → 0.6 × 10−3 | 815 × 10−6 | 28 × 10−6 | | Width (m) | 25 × 10−3 | 25 × 10−3 | 25 × 10−3 | | Length (m) | 0.7 | — | — |
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