scholarly journals Wide Two-Degree-of-Freedom Static Laser Scanner with Miniaturized Transmission Mechanism and Piezoelectric Actuation

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6077
Author(s):  
Takashi Ozaki ◽  
Norikazu Ohta ◽  
Motohiro Fujiyoshi
Keyword(s):  
Large Deflection ◽  
Deflection Angle ◽  
Laser Scanner ◽  
Degree Of Freedom ◽  
Transmission Mechanism ◽  
Piezoelectric Actuation ◽  
Laser Scanners ◽  
Static Mechanical ◽  
Two Degree Of Freedom ◽  
Significant Attention

In recent years, laser scanners have attracted significant attention for applications such as laser radars. However, the establishment of a two-degree-of-freedom scanner that can quasi-statically drive a large mirror with a large deflection angle has proven to be challenging. In this paper, we propose a laser scanner design and fabrication method by combining two unimorph piezoelectric actuators composed of piezoelectric single-crystal Pb(In1/2Nb1/2)O3-Pb(Mg1/3Nb2/3)O3-PbTiO3 and a miniature translation-rotation conversion mechanism with flexible polyimide hinges. The size of the entire scanner was 32 mm × 12 mm × 10 mm. We successfully demonstrated that the scanner could achieve a large quasi-static mechanical deflection angle amplitude of 20.5° in two axes with a 6-mm-square mirror.

Touch Recognition Using a Passive Large Compliance Robotic Finger With Internal Sensors for Planar Applications

1999 ◽  
Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra
Keyword(s):  
Deflection Angle ◽  
Low Cost ◽  
Three Dimensional ◽  
Outer Edge ◽  
Degree Of Freedom ◽  
Two Dimensional ◽  
Outline Shape ◽  
Contact Points ◽  
Manipulator Arm ◽  
Two Degree Of Freedom

Abstract In this paper, a touch-sensing device consisting of a passive large compliance robotic finger with internal sensors, and algorithms for using this device for recognition applications are presented. These algorithms include recognition of the two-dimensional projected outline shape and dimensions of an object, and recognition of the three-dimensional convex outline height profiles of an object. The two-dimensional outline of an object is identified by tracing the object’s outer edge with the robotic finger and returning the XY coordinates of selected outline contact points and their tangent line directions. Recognition of the three-dimensional convex outline height profiles of an object is done by observing the change of the robotic finger deflection angle while moving the finger toward the object in contact. The feasibility of the device and the algorithms developed were successfully tested for planar applications by both analytical simulations and by experiments using a simple two-degree-of-freedom inverted joystick attached to the end of a planar manipulator arm. Simplicity, low cost, and easy implementation are some of the major benefits of using the proposed touch-sensing device.

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