A Position Control Modeling Method for an Origami-Inspired Flexure-Based Piezoelectric-Actuated Manipulator

The manuscript presents a modelling method for position control of a piezoelectric-actuated compliant mechanism. The method involves pseudo-rigid body (PRB) theory, linear electromechanical model of piezoelectric benders and Simulink-based simulation. In order to validate the modelling method, two experiments were designed and conducted. They are working volume estimation and voltage clip recurrence. The comparison between simulation and experimental results indicates that the modelling can predict the motion of the compliant structure and be used for optimization design. In future work, the model can be extended to include the hysteresis model of piezoelectric materials. Besides, the model can be applied together with an onboard visual feedback system to carry out a closed-loop control for higher precision motion.