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The variational principle is used for deriving the lumped conjugate parameters: two mechanical ports for the extensional motion, four mechanical ports for the flexural motion, and m electrical ports for the m piezoelectric layers.
A straight bar element containing piezoelectric members is viewed as a linear system with one electrical and two mechanical ports where it can interact with external electrical and mechanical devices through voltage, current, forces and velocities.
According to this model, the PBE is viewed as a linear system with one electrical and two mechanical ports at which interactions with external devices, e.g., the external parts of the aluminum bar, can take place.
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A coupled drive mechanism with touch detection using a mechanical port valve is used herein to realize the proposed mechanism.
A mechanical system based on a coupled drive mechanism with touch detection by mechanical port valves was devised, designed, and prototyped to realize the proposed design.
First, we discuss the possible design concepts for the omnidirectional bending motion and introduce a new design to realize the reflexive motion by means of a coupled drive mechanism with touch detection using mechanical port valves.
This paper aims to confirm the proposed concept by prototyping a drive mechanism coupled with contact detection and bending motion using mechanical port valves.
Figure 3 presents the basic principle of mechanical touch sensing for self-bending motion using mechanical port valves.
The bellows are usually opened to the atmosphere through a mechanical port valve as shown in Fig. 3a.
In addition, the contact pad was equipped with mechanical port valves connected to the bellows on the opposite side of the device.
The contact pad is equipped with a mechanical port valve connected to the bellows on the opposite side of the device.
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