A smart ultrasonic actuator with multidegree of freedom for autonomous vehicle guidance industrial applications

Transcription

1 A smart utrasonic actuator with mutidegree of freedom for autonomous vehice guidance industria appications Item type Artice Authors Shafik, Mahmoud; Ashu, Mfortaw, Evis; Nyathi, B. Citation DOI Pubisher Journa Shafik, M. et a. (015) 'A smart utrasonic actuator with mutidegree of freedom for autonomous vehice guidance industria appications', Internationa Journa of Robotics and Mechatronics, (), pp %Fijrm.vi.875 UNSYS Digita Internationa Journa of Robotics and Mechatronics Downoaded 1-Sep :34:9 Link to item

2 Internationa Journa of Robotics and Mechatronics A Smart Utrasonic Actuator with Mutidegree of Freedom for Autonomous Vehice Guidance Industria Appications Mahmoud Shafik, M. Evis Ashu, and B. Nyathi Coege of Engineering and Technoogy, University of Derby, Derby, United Kingdom Abstract A piezoeectric utrasonic actuator with mutidegree of freedom for autonomous vehice guidance industria appication is presented in this paper. The actuator is aiming to increase the visua spotight ange of digita visua data capture transducer. It consists of three main parts, the stator, rotor and housing unit. The stator is a piezoeectric ring made from S4 piezoeectric ceramics materia, bonded to three eectrodes made from a materia that has a cose Characteristics to the S4. The rotor is a ba made from stainess stee materias. The actuator working principes is based on creating micro eiptica motions of surface points, generated by superposition of ongitudina and bending vibration modes, of osciating structures. Transferring this motion from fexibe ring transducer through the three eectrodes, to the attached rotor, create 3D motions. The actuator Design, structures, working principes and finite eement anaysis are discussed in this paper. A prototype of the actuator was fabricated and its characteristics measured. Experimenta tests showed the abiity of the deveoped prototype to provide mutidegree of freedom with typica speed of movement equa to 35 rpm, a resoution of ess than 5 μm and maximum oad of 3.5 N. These characteristics iustrated the potentia of the deveoped smart actuator, to gear the spotight ange of digita visua data capture transducers and possibe improvement that such micro-actuator technoogy coud bring to the autonomous vehice guidance and machine vision industria appications. Furthermore research are sti undertaken to deveop a universa contro prototype, integrate the actuator with an infrared sensor, visua data capture digita transducers and obtain the trajectory of motion contro agorithm. Keywords Mutidegree of freedom actuator, autonomous vehice, machine vision, robot guidance, mechatronics. A I. INTRODUCTION UTONOMOUS vehices and driveress cars are key deveopment for future smart cities and viages across the word. As the human eyes is one of the most important organs of the human body. Our abiities and taents are greaty depending on our abiity to see, recognize, and distinguish objects and to estimate distances. Most jobs depend on our Corresponding author: Mahmoud Shafik (e-mai: m.shafik@derby.ac.uk). This paper was submitted on December 4, 015; revised on December 0, 015; and accepted on December 7, 015. abiity of visua perception. As amazing as the human sense of vision may be, we must admit that today's autonomous and manufacture technoogies more and more often broaden we beyond the imits of human visua capacities. This is where artificia machine vision, autonomous vehice and robot guidance technoogy comes in. It is one of the constanty growing areas of research and deveopment that deaing with processing and anayzing of visua digita data capture [1-3]. It Pays a key roe in the deveopment of autonomous systems and enabes decision making for some of the industria appications and manufacturing process. The principa aim and objectives of this research is to deveop technoogy that has the abiity to perceive, reason, move with mutidegree of freedom and earn from experiences, at ower cost. The research is particuary focus on deveoping of an actuation system that coud provide 3D motions with mutidegree of freedom, to overcome the visua data capture transducer spotight focus ange (Figure 1) and enhance the machine vision system abiity to perceive and move in 3D. Investigation into the state of the art of emerging cutting edge actuators technoogy and possibe approaches to deveop a creative, sustainabe and simpe design structure that meets the 3D motions and machine vision requirements, at ower cost was a chaenge. However with the potentia characteristics, design optimization and working mechanism that piezoeectric utrasonic actuator technoogy offers and that coud bring to this area of appied research industria appications. There is a strong beieves that this technoogy wi fufi the requirements and this is where this research programme has started. The piezoeectric Utrasonic actuators (USM) working principes are based mainy on the perception of driving the rotor by a mechanica vibration force generated on the stator (Lead Zirconate Titanate (PZT) Transducer), via piezoeectric inverse phenomenon. USM technoogy can be cassified into many categories however the two main common categories, that based on the PZT working mode are, bonded type [5-9] and bot-camped type actuators [10-1]. USM s have many advantages and disadvantageous. These advantages are incuded compact size, high force density, and simpe mechanica structure, sow speed without additiona gear or spinde, high torque, non-magnetic operation, freedom for

3 Internationa Journa of Robotics and Mechatronics 45 constructiona design, very ow inertia, fast dynamic time responses, direct drive, fine position resoution, miniaturization and noiseess operation. These criteria gave them the potentia to be used in a number of industria appications [13-5]. Demanding and carefu examination for piezoeectric utrasonic actuators industria appications reveas that there are apparent teething issues or disadvantageous. The first is in regard to its dynamic time response and transfer function. Whie a piezo-ceramic eements, typicay PZT, expands in direct proportion to the magnitude of the appied votage, the USM on the other hand accumuates those dispacements over time. Therefore the transfer function of the actuator, reating to the magnitude of the driving signa to the dispacement is an integrator [18, 1-6] and this showed a deay in the dynamic time response of the USM, but it is not neary significant as that in an eectromagnetic actuators i.e. DC and or AC. The second issue is that because motion is generated through a friction force between actuator eements therefore it has a dead band. Often USM does not move unti the driving input signa is greater than 10% of the maximum aowed votage, to overcome the friction, such a dead band imits the abiity of USM to acceerate quicky [5, 1-6]. S4 piezoeectric materia. Three titanium rods and a magnet were designed and attached to the stator, to support the rotor at three tips. The three rods has been detached at 10 degree and ocated at the transducer driving tips, to transfer the micro eiptica motion to the rotor. The rotor is a sphere of stee of size 8mm that rests on the stator intersecting at the tips of the rods. The structure is housed by Perspex, a transparent thermopastic materia. (a) Rot r Stato (a) Housing (b) Figure 1 The camera (a) fied of view in D showing the wide, norma and tee ange, (b) depth of fied and minimum object distance [4] (b) Figure Design and structure of the proposed 3D USM for machine vision industria appications: (a) design & structure, and (b) CAD soid mode The deveopment of the proposed piezoeectric actuator with mutidegree of freedom presented in this paper have passed through three main phases, phase one focused on: an investigation into the current actuators technoogy, phase two concentrated on: the actuator design and structure, phase three deat with: finite eement anaysis, to test the actuator design structure, optimization and materia micro deformation. The fina stage focused on materia seection, prototype fabrication, test and measurements. Perspex Stator Rotor Magnet Tantaum Rod II. USM WITH MULTIDEGREE OF FREEDOM AND STRUCTURE Figure (a) and (b) shows the actuator design, structure and CAD sod mode. Figure 3 shows side view cross section of the actuator structure. The proposed actuator consists of three main parts, the rotor, stator and housing unit. The stator is a piezoeectric transducer ring made of Lead Zirconate Titanate - Housing Unit Figure 3 Cross section side view of the proposed 3D USM for machine vision and robot guidance industria appications

4 Int. J. of Robotics and Mechatronics, 015, Vo., No. The shape of three titanium rods is circuar. This is to make sure that each rod is intersected with the sphere rotor in one singe point. This is to minimize the friction force and avoid any possibe oss of the stator thrust driving force. The three rods are fastened to the ring and the transducer ring is bonded to the housing using siicon rubber. This is to avoid any interference with the stator modes of vibration and provide the necessary degree of freedom, to transfer the micro eiptica force from the PZT ring to the rotor, through the three titanium rods. The magnet was design and its force has been determined carefuy to keep the rotor attached to the rods and ensure efficient transfer of the stator vibration force. The proposed actuator design in this paper has many advantageous over any other recenty deveoped mutidegree of freedom actuator. It presents a very creative, sustainabe and simpe design that is easy to manufacturer and maintained. The principes of motion is based on materia deformation and friction force, therefore there is no much risk of interference and infuences by any other system in the same working environment. This is in addition to the parts can be repaced if its performance deteriorated with the time as a very good exampe of sustainabe innovation design approach. The design structure and working mechanism aso presents for the first time a new approach that aows transferring the piezoeectric phenomenon through a materia that has cose characteristics (titanium materias) and performing the same principas of creating motion using friction between sod parts. III. USM WITH MULTIDEGREE OF FREEDOM WORKING PRINCIPLES AND MATHEMATICAL MODEL The proposed actuator is designed using bending and ongitudina vibration modes in a singe ring transducer, which has a fixed waveength. The concept is to utiize two modes of vibrations, to obtain the desired motion of the piezoeectric eement, bending and ongitudina vibration modes. One mode of vibration produces a norma force whie the other vibration generates thrust force, which is perpendicuar to the norma force, resuting in an eiptica trajectory of micro eiptica motions, at a number of the rig surface tips. 10 o separation ange, to the piezoeectric ceramic ring surface, the micro eiptica motions are transferred to the rods tips, causing the rotor to move in 3D. The rotor movement is caused by the sequentia frictiona force generated at the tips of each rod. Obtaining the trajectory of these points across the sphere rotor wi hep to contro the actuator movements. Figure 4 shows the arrangement of the three rods and the sphere rotor of the actuator. The foowing Equations (1), () and (3), represent the vibrations of the dispacement in the parae and perpendicuar direction of the traveing wave generated by the fexura vibration ring transducer that transferred through the three rods, respectivey. X A Y A Z A W W W 1 cos f cos f 3 cos f t t t where: X A, Y A, and Z A are the possibe dispacements in parae and perpendicuar direction, respectivey. W 1, W, and W 3 are the maximum vibration ampitudes in the X, Y and Z directions, respectivey. f is the resonant frequency, t is the time and is the phase difference. Obtaining and investigating the dynamic and mathematica mode of the design structure coud hep to optimize the design and improve the performance of transferring the piezoeectric ring materia deformation. Figure 5 shows the coordinate system of the titanium rod A as the piezoeectric fexura ring start to vibrate. 3 1 Figure 4 USM actuator showing the arragement of the rods A, B, and C on the piezoeectric fexura ring The ongitudina and bending vibration modes are couped by asymmetry of the piezoeectric ceramic vibration ring [8, 18-4]. By attaching three perpendicuar rods A, B and C, with 46 Figure 5 showing the coordinate of the titanium rod A attached to the piezoeectric fexura transducer ring The piezoeectric actuator stator is a ring transducer and its mode is the main principes to ensure the deveopment of accurate resuts (Lizhong Xu & Shanjie Du 013). According to Lizhong and Shanjie, the dynamic equation of the vibrating transducer (stator) as per figure above is given as: w 1 α 1+μ + 1 μ w μ r φ w 3 + μ w = ρh w 1 r α φ r α k τ w μ w 3 + w 3 + w = ρh w 3 (1) r α φ α r φ r φ k τ 1 h (μ w 1 r α + w 3 r φ + w r ) + w = 1 D ( ρh w τ )

5 Internationa Journa of Robotics and Mechatronics 47 where w 1, w and w 3 Are the axia, radia and tangentia dispacements of the vibrating transducer, respectivey. The constants K and D coud by obtained using: K = Eh 1 μ D = Eh 3 1(1 μ ) where µ is the Poisson s ratio for the transducer materia, E is the eastic ratio of the vibrator transducer materia, τ is the time, h is the thickness of the transducer disc, r is the radius of the transducer ring and ρ is the density of the transducer ring materia. According to izhong and Shanjie in any circumferentia mode n, the is a genera reationship of a dispacement for a free vibration mode and coud be represented as: w 1 (α, φ, τ) = w 1 (α) cos(nφ). e jwτ w 3 (α, φ, τ) = w 3 (α) sin(nφ). e jwτ () w (α, φ, τ) = w (α) cos(nφ). e jwτ where w 1 (α), w 3 (α) and w (α) Are correspond to the axia, radia and tangentia dispacement of the transducer respectivey in the X A, Z A and Y A direction of the eectrodes A in the actuation system. Figure 6 shows the dispacement forces with a radius (r). Substituting the dispacement reationships into the dynamic equation and carry soving the differentia equation wi resut to; w 1 r + [Ω n (1 μ) ] w 1 + nr(1+μ) w 3 + μrw = 0 nr(1+μ) w 1 r (1 μ) w 3 + (n Ω )w 3 + nw = 0 (3) μrw 1 + nw 3 + Kr 4 w 4 Kn r w + [1 + Kn 4 Ω ]w = 0 where Ω = ρhr K ω and K = h 1r According to Lizhong and Shanjie the moda function can be describe aong the axia direction can be described by a sum of inear combination of Fourier series that are orthogona. The Fourier series in the axia, radia and tangentia coordinates of the piezoeectric transducer disc motor can be express as: w 1 (α) = A on + w 3 (α) = m=1 A mn m=1 B mn sin mπα cos mπα With phases imit ranges with ength from: (0 α ) (4) (0 α ) (5) im ( π ) w 0 with (α = 0) and ( π ) w with (α = ) w (α) = m=1 C mn sin mπα (0 α ) (6) Reative derivatives of the above moda functions can be obtained to form the matrix in the form of: D 1 E 1 [ D ] = ε 0 [ E ] [ D 3 E 3 P 1 P P 3 ],. D = 0 (7) Figure 6 with estimated radia and the ange of rotation at eectrode A of the actuation system (stator) where D is the eectric dispacement, ε 0 is the vacuum permittivity, E is the eectric fied and P is the poarization density. The reative derivative of the moda functions, w 1, w 3 and w in the axia, radia and tangentia direction is given as ((π ) )w 01 m=1 w 1 (α) = [ π ma mn ((π ) )w 1 cos mπα (0 α ) (8) w 3 (α) = π {w 30+w 3 w (α) = π {w 0+w w 1 (α) = ( π ) [ w 10+w 1 + [w 30 + V 3 ( 1) m + mb mn ] cos mπα m=1 } (0 α ) (9) + [w 0 + w ( 1) m + mc mn ] cos mπα m=1 } (0 α ) (10) + m=1[w w 11 ( 1) m m A mn ] cos mπα (0 α ) (11)

6 Int. J. of Robotics and Mechatronics, 015, Vo., No. ((π 3 ) )w 30 w 3 (α) = ( π ) [{ [w 30 m + V 3 m( 1) m + m B mn ] sin mπα } (0 α ((π 3 ) )w 3 ((π 3 ) )w 0 m=1 w (α) = ( π ) [{ [w 0 m + V m( 1) m + m C mn ] sin mπα } (0 α ((π 3 ) )w m=1 (1) (13) w (α) = ( π )3 { w 0+w + [w 0 + w ( 1) m w 0 m w m ( 1) m 3 C mn ] cos mπα m=1 } (0 α ) (14) w 4 (α) = { w 04 w ( π 4 )4 [ w 0 m w ( 1) m + w 0 m 3 + w m 3 ( 1) + m 4 C mn ] sin mπα m=1 (0 α ) (15) Substituting Equations 4-15 into Equation 3 to obtain the form of Equation 7 for piezoeectric phenomenon yied for eectrode A, B and C. As per Lizhong and Shanjie the constants in Equation 16 above are given as Tantaum Rods A Tantaum Rods B Tantaum Rods C Equation 16 shows the dynamic equation of the actuation system with a transfer function represented in a piezoeectric matrix form which is the desire dynamics of the system. IV. 3D USM FINITE ELEMENT ANALYSIS AND MODELLING There are two methods of anaysis can be used to mode such USM s [6, 8, 10, 16-17, 4] since they have a number of compex non-inear characteristics. These methods are: the Anaytica Anaysis and the Finite Eement Anaysis (FEA) methods. FEA has been used in the design and deveopment process ifecyce of this proposed actuator design. This is mainy aiming to evauate the actuator structure, by performing an agebraic soution of a set of equations that describing an idea mode structure, with a finite number of variabes. Some sampes of the data used in the proposed actuator modeing are iustrated in TABLES I and II. The soid structure is divided into sma portions named finite eements, an approximate soution for each finite eement is generated. A summation of a the approximate soutions of the finite eements is obtained. The ring has been defined as made of piezoeectric Ceramic PZT-S4 materia and the three rods have been seected as made of titanium materia. ANSYS FEA CAD simuation software toos have been used in this anaysis and simuation. PZT Transducer Stator Figure 7 Actuator stator and rotor arrangements and principes used to generate 3D motions As stated in TABLE II, the piezoeectric charge constant D 31 rated as -155 is the working mode of the piezoeectric ring used to excite the bending vibrations of the ring. The D 31 mode has a ower eectromagnetic couping efficiency compared to the D 33 (30). The design dimensions of the stator for such actuator are mainy based on the vibration modes, capacitance ratio, and direction of vibratory dispacement obtained using FEA [1,, 9-30]. Figure 8 shows the FEA variations of the dispacement of the PZT Transducer ring versus the exciting frequency, for the proposed USM actuator structure. This shows the natura frequency of the proposed structure is cose to 40 khz. It aso shows the possibe dispacement and vibration ampitude that can be generated in the three dimensions due to the materia deformation. The graph aso evident that with any of the variabe votage or frequency coud be used to vary the natura frequency of vibration of the actuation system and hence both variabes coud be used to in the contro system of the actuator. 48

7 Internationa Journa of Robotics and Mechatronics 49 TABLE I PZT-S4 PIEZO-CERAMIC MATERIAL, TITANIUM SOLID RODS MATERIAL, AND THE STEEL BALL MATERIAL USED IN THE PROPOSED USM Materia Coefficient (Unit) Vaue PZT-S4 Reative permittivity (m) 1450 Dissipation Constant (%) 0.4 Mechanica Quaity factor 600 Density (g/cm 3 ) 7.6 Titanium Rod Poisson s ratio 0.3 Young`s Moduus of easticity (Gpa) 116 Density (g/cm 3 ) stee Ba Poisson s ratio 0.3 Young`s Moduus of easticity (Gpa) 70 Density (g/cm 3 ).7 TABLE II TRANSFORMATION OF E-COEFFICIENT TO D-COEFFICIENT FOR PIEZOCERAMIC MATERIAL USED IN USM MODELLING Materia Coefficient Vaue (m/v) Piezo-ceramics D 31 x D 33 x Figure 8 The variations of the PZT vibration ring dispacement vs. frequency at 40 vot of the proposed USM actuator using singe fexura vibration transducer Figure 9 FEA mode at drawn frequency of khz of the proposed USM actuator using singe fexura vibration transducer Figure 10 FEA mode at drawn frequency of khz of the proposed 3D USM actuator using singe fexura vibration transducer The natura frequency of the actuator stator indicates the dynamic time response of the USM and in this case it is on the order of microseconds. This can be cacuated roughy as Q times the vibration period. Where Q is the quaity factor of the actuator, which can be determined using the foowing reationship [17-18]: R Q m L C where R m is the equivaent resistor of the vibrating transducer, at a fixed operating frequency, L is the inductance of the LC-driving circuit and C is the tota capacitance which is not constant and depends on the vibrating transducer interna capacitance, cabe interna capacitance and LC-driving circuit capacitance. Figures 9 and 10 show the 3D USM FEA mode at drawn frequency of khz for bending & ongitudina vibration mode. It shows aso the materia deformation, actuator structure and intersection between the actuator parts. The FEA simuation and modeing enabed to test actuator structure, investigate materia modes of vibration, materia deformation, and seect the PZT materia of the fexura transducer ring, defining the operating parameters for the actuator, determining the principes of motion and possibe technique to contro the trajectory of motions, by controing the phase between the modes of vibrations. A prototype of the USM actuator was fabricated. The eements of the manufactured prototype were integrated successfuy into the housing of the actuator and a series of experimenta tests and measurements were carried out, to examine the potentia characteristics of the deveoped prototype. Figure 11 shows the fabricated prototype and Figure 1 shows the arrangement used for testing. The

8 Int. J. of Robotics and Mechatronics, 015, Vo., No. arrangement shown in Figure 13 has been used to test and measure the actuator main characteristics. A piezoeectric driver was used to provide the Piezo-ceramic vibrating transducer ring with the aternative driving votage and current. A function generator was used to provide various shapes of signa incuding sinusoida, saw-tooth and square wave. A dispay unit, which consists of a digita oscioscope and PC computer, was used to trace the signa and determine the actuator operating parameters. Figure 11 Fabricated prototype of the proposed USM using a singe piezo-ceramic fexura vibrating ring transducer Load signa Lap top Digita Oscioscope & Spectrum anayzer Piezoeectric Driver Function Generator Digita Switching USM Figure 1 Bock diagram of the arrangement used to measure characteristics of the fabricated USM prototype using singe vibration ring Figure 13 Practica test rig arrangement used to measure the characteristics of the fabricated USM actuator prototype using singe fexura vibration transducer A measurement of the operating parameters is carried out using the same arrangement used in the modeing of the actuator, as shown in Figures and 7. The PZT ring transducer is connected to a singe phase AC power source with a wide Unit Dispay Unit Digita Speedometer range of ampitude and frequency. A switching unit has been used to reguate the AC input power to the PZT ring transducer. Then a measurement of both the ampitude and frequency of the AC input signa is carried out. A sine wave input signa is obtained from a signa generator with the frequency sited to 100 khz range. The input signa is monitored using the digita oscioscope and the current is monitored using a digita Muti-meter. A gain of-5-ampification factor was obtained by changing the oad range of the piezo driver mode 603. The high votage output is connected to the positive side of the piezoeectric ring and the ground of the piezo driver is connected to the negative one. The input signa from the signa generator is monitored on the oscioscope. Votage ranges of 1V -5V are seected. The votage was increased in 1Vot intervas by adjusting the ampitude of the signa generator. The frequency of the input signa is adjusted on the signa generator, by graduay increasing it in 3-5 khz intervas. The votage and frequency is sequentiay increased unti the resonance frequency of the piezoeectric ring transducer is reached. The votage is kept constant, and the frequency is adjusted unti a trajectory is obtained. The trajectory is controed by varying the frequency on the signa generator unti a 3D rotationa motion is obtained. The frequency fixed at KHz and the input votage increased in sequentia steps unti reached 45Vot that when the rotor start move. The current and movement has been measured in revoution per minute (rpm) and the votage has been recorded. Figure 14 shows the variation of the current vs. input votage for the fabricated USM prototype. This shows that the actuator is a capacitive oad and the reationship graph can be used to determine its actuator interna impedance. A constant votage has been chosen of 100VAC, varying the frequency up and down between 38 khz to 4 khz, the movement trajectory of the rotor was moving in 3D. The frequency of USM driver has been atered incrementay. The speed of the actuator has been measured for each increment. It was noticed during this process that the speed of the actuator increases as the frequency of the actuator driver increased as shown in Figure 15. These measurements show the potentia of using the votage and or the frequency to contro the 3D motions of the deveoped actuator. These measurements shows that the overa power consumption is in order of 5-watts. The resoution of the actuator was aso measured and this found ess than 5 micrometer. A constant frequency has been chosen of 39. khz, the votage of USM driver has been atered incrementay. The speed of the actuator has been measured for each increment. Figure 16 shows the reationship between the input votage and the speed on rpm. For autonomous vehice and machine vision industria appications, there is no much oad wi be carried out by the actuator. The maximum oad that coud be expected is the oad of enses and any other wireess sensors that coud be integrated into the rotor. Therefore, the maximum oad that the deveoped actuator can carry out was measured. This shows that the maximum oad the prototype can carry out is equa to 50

9 Speed rpm Speed in rpm Frequency in KHz Current - ma Internationa Journa of Robotics and Mechatronics Newton. Figure 17 shows the variations of the speed of movement against the increase of the oad attached incrementay to the sphere. 100 Figure 14 The variation of the current vs. input votage for the fabricated 3D USM prototype using singe fexura vibration transducer Figure 15 The variation of the speed of movement vs. the appied frequency for the fabricated 3D USM Input Votage vs Current Input Votage in Vots Speed of movement vs Operating frequency Speed in rpm Figure 16 The variation of the 3D movement speed vs. input votage for the fabricated 3D USM prototype using singe fexura vibration transducer Speed of movement vs Input Votage Input Votage in Vots Load vs Speed of Movement Load in 0.01 Newtons Figure 17 The variation of the speed of movement vs. oad for the fabricated 3D USM prototype The power was cacuated as the operating parameters were found. Current is equa to 50 ma and votage is equa to 100 vot. This shows that the overa power to drive such USM is ow. The resoution of the rotor was measured and was found ess than 5 micrometers, at nomina operating parameters of votage of 100VAC, current of 50 ma and frequency of KHz. V. CONCLUSIONS The deveopment of a smart actuator with mutidegree of freedom for autonomous vehice industria appication have been deveoped and presented in this paper. The deveopment ife cyce of this actuator has passed through a number of stages. Finite eement anaysis has been utiised during the design process and has heped in design structure optimisation. A prototype of the actuator fabricated and its characteristics were measured. Comprehensive experimenta tests showed the abiity of the deveoped actuator to provide 3D motions with mutidegree of freedom, typica operating parameters are: frequency: 39. KHz, votage: 100 vot and current: 50 m-amperes. This has indicated a cose agreement with FEA resuts. The deveoped prototype has a speed of movement equa to 35 rpm, and a resoution of ess than 5μm. It can aso hande maximum oad of 3.5-Newton. These resuts shows the potentia of the deveoped actuator to meet the essentia requirements for machine vision digita visua data capture transducer for autonomous vehice industria appication and coud potentiay increase the visua spotight ange of digita visua data capture transducer. It has been observed that there are few teething issues reevant to actuator motion trajectory and contro agorithm. Research is sti ongoing to tacke these issues and optimise the actuation system fina design. REFERENCES [1] Ramesh Jain, Rangachar Kasturi, Brian G. Schunck, Machine Vision, McGraw-Hi, Inc., ISBN , [] H. Gonabi, A. Asadpour, Design and appication of industria machine vision systems, Robotics and Computer-Integrated Manufacturing 3 (007) CrossRef [3] Dimitris Gorpas, Kostas Poitopouos, Dido Yova, A binocuar machine vision system for three-dimensiona surface measurement of sma objects, Computerized Medica Imaging and Graphics 31 (007) CrossRef [4] SICK IVP, Machine Vision Introduction, Version., December 006. VIEW [5] Chunsheng Zhao, Utrasonic motors: technoogies and appications, Science Press, New York, 011. CrossRef [6] S. Lin, An improved cymba transducer with combined piezoeectric ceramic ring and meta ring, Eservier, China, sensors and actuators A: Physica Vo: 16 p-6-76, 010. [7] D. Engeke, B. Oehme, and J. Strackejan, A Nove Drive Option for Piezoeectric Utrasonic Transducers, Hindawi Pubishing Corp, Modeing and Simuation in Engineering, Vo 011, ID , p1-6, 011. [8] J.S. Park, S.T. Kim, J.W. Kim, Utrasonic inear motor using L1-B4 mode and its anaysis, Jpn. J. App. Phys. 44 (1A) , 005. CrossRef

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