Apparatus for reducing vibration inputs to a device and/or for positioning the device

• US 5,742,145 A
• Filed: 12/01/1995
• Issued: 04/21/1998
• Est. Priority Date: 09/07/1994
• Status: Expired due to Term

• Current Assignee: Polytechnic University (New York University), Omnitek Research & Development, Inc.
• Original Assignee: Polytechnic University (New York University), Omnitek Research & Development, Inc.
• Inventors: Khorrami, Farshad, Rastegar, Jahangir
• Primary Examiner(s): SALATA, ANTHONY J
• Application Number:
  US08/565,906
• Time in Patent Office: 872 Days
• Field of Search: 312/632, 312/623, 312/627, 312/611, 312/568.11, 312/568.22, 312/568.1, 310/51, 310/333, 310/335
• US Class Current: 318/632
• CPC Class Codes: B25J 9/1635 flexible-arm control
• CPC Class Codes: B25J 9/1638 compensation for arm bending/inertia, pay load weight/inertia
• CPC Class Codes: F16F 15/005 using electro- or magnetostrictive actuation means generating of mechanical vibrations operating with electrostriction B06B1/06, with magnetostriction B06B1/08; vehicle suspension arrangements characterised by use of piezoelectric elements B60G17/01941; piezoelectric, electrostrictive and magnetostrictive devices per se H10N30/00
• CPC Class Codes: F16F 15/02 Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems F16F15/005 takes precedence ; layered products B32B; suppression of vibration in ships B63; relieving load on bearings, using magnetic means F16C39/06
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/37434 Measuring vibration of machine or workpiece or tool
• CPC Class Codes: G05B 2219/39176 Compensation deflection arm
• CPC Class Codes: G05B 2219/39195 Control, avoid oscillation, vibration due to low rigidity
• CPC Class Codes: G05B 2219/39199 Active vibration absorber
• CPC Class Codes: G05B 2219/41344 Piezo, electrostrictive linear drive
• CPC Class Codes: G05B 2219/41345 Micropositioner

Abstract

Apparatus for compensating for positioning, pointing and/or orientation errors caused by deflections of structural members and components of a high performance machine or device and/or for reducing vibration inputs to such machine or device and/or for micro-positioning such machine or device so as to improve the operational performance of such machine or device. The apparatus utilizes one or more active-type actuators, such as piezoelectric ceramic type actuators, which are arranged in a predetermined manner relative to the machine or device. A servo control device operating in accordance with a predetermined algorithm may be utilized for controlling the actuators or, alternatively, the apparatus may operate in an open loop manner.

Claims

1. Apparatus for reducing vibration inputs to a device, said apparatus comprising:

means for detecting vibration along at least two directions of said device and for supplying therefrom a vibration signal corresponding to the detected vibration;

control means for generating a control signal in response to said vibration signal;

support means for supporting said device; and

a plurality of actuator means each coupled to said support means for moving said device in response to said control signal so as to reduce the vibration inputs to said device in at least two directions.

2. An apparatus according to claim 1, wherein said support means has a mounting surface whereupon said device is mounted and wherein each of said actuator means includes a movable portion which is adapted to move in a predetermined direction which is substantially perpendicular to said mounting surface.

3. An apparatus according to claim 2, wherein each of said actuator means includes an active-type device.

4. An apparatus according to claim 1, wherein each said active-type device is a piezoelectric ceramic-type device.

6. An apparatus according to claim 1, wherein said movable support means has a mounting surface whereupon said device is mounted and wherein each of said first and second actuator means includes a movable portion which is adapted to move in a predetermined direction which is substantially perpendicular to said mounting surface.

7. An apparatus according to claim 6, wherein each of said first actuator means includes an active-type device.

8. An apparatus according to claim 7, wherein each said-active type device is a piezoelectric ceramic-type device.

5. Apparatus for reducing vibration inputs to a device, said apparatus comprising:

means for detecting vibration along at least two directions of said device and for supplying therefrom a vibration signal corresponding to the detected vibration;

control means for generating a control signal in response to said vibration signal;

movable support means for supporting said device;

a plurality of first actuator means each coupled to said movable support means for moving said device in response to said control signal so as to reduce relatively high frequency vibration inputs to said device; and

a plurality of second actuator means each coupled to said movable support means for moving said device in response to said control signal so as to reduce relatively low frequency vibration inputs to said device.

9. Apparatus for reducing vibration inputs to a device, said apparatus comprising:

means for detecting vibration along at least two directions of said device and for supplying therefrom a vibration signal corresponding to the detected vibration;

control means for generating a control signal in response to said vibration signal; and

at least one module, each said module having a mounting surface and a plurality of actuator means each coupled to said mounting surface for moving said device in response to said control signal so as to reduce vibration inputs to said device in at least two directions.

10. An apparatus according to claim 9, wherein each said mounting surface is adapted to have mounted thereon one of said device and another said module and wherein each of said actuator means includes a movable portion which is adapted to move in a predetermined direction which is one of a direction substantially perpendicular to the respective mounting surface and a direction substantially parallel to said respective mounting surface.

11. An apparatus according to claim 10, wherein said apparatus includes at least two of the modules which are respectively mounted one on another and wherein said device is mounted on the respective mounting surface of the module not having a module mounted thereon.

12. An apparatus according to claim 11, wherein each of said actuator means includes an active-type device.

13. An apparatus according to claim 12, wherein each said active-type device is a piezoelectric ceramic-type device.

14. An apparatus for positioning a device comprising a plurality of modules each having a support member and a plurality of actuator means coupled thereto for moving said device in at least one of a translational land rotational direction, said modules being arranged in series with one another so as to move said device in more than one direction so as to position said device.

15. An apparatus according to claim 14, wherein each said support member includes a mounting surface adapted to have mounted thereon one of said device and another of said modules and wherein each of said actuator means includes a movable portion which is adapted to move in a predetermined direction which is one of a direction substantially perpendicular to the respective mounting surface and a direction substantially parallel to said respective mounting surface.

16. An apparatus according to claim 15, wherein said device is mounted on the respective mounting surface of the module not having a module mounted thereon.

17. An apparatus according to claim 16, wherein each of said actuator means includes an active-type device.

18. An apparatus according to claim 17, wherein each said active-type device is a piezoelectric ceramic-type device.

19. An apparatus coupled to a device adapted to be easily deformable in at least one direction and to be relatively rigid in at least one other direction, said apparatus comprising:

inner and outer members, said inner member being fixedly attached to said device; and

at least two connecting members respectively fixedly coupled at opposite respective ends thereof to said inner and outer members, each of said at least two connecting members having a relatively low stiffness in said at least one direction and a relatively high stiffness in said at least one other direction so as to be easily deformable in said at least one direction and be relatively rigid in said at least one other direction, respectively.