Modeling of a piezoelectric beam spring

This report contains a brief study of the piezo material, an analytical calculation of the beam bending and a dynamic simulation of the changing of stiffness. Finite Element Method is used in statics simulation in SolidWorks. Feedback PI controller and springdamper system is used in Simulink to simulate the piezo stiffening. The outcomes of this assignment are a SolidWorks assembly that can be used in an upper level system to simulate the artificial muscle and robot joint, and a Simulink voltage controller for the robot to have faster react. It also gives theoretical proof, evaluation and suggestion on the sample.