A Lightweight Surface Milli-Walker Based on Piezoelectric Actuation

Peng, Hanmin; Yang, Jianzhi; Lu, Xiaolong; Zhu, Pancheng; Wu, Dawei

doi:10.1109/tie.2018.2883269

Cited by 42 publications

(19 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The kinematic model for a similar piezoelectric miniature robot made from PZT mounted to an elastic beam has been analytically described, extending fundamental understanding and enabling prediction of motility 104. One such walking robot based on piezoelectric actuation has been demonstrated by Peng et al by employing second order out‐of‐plane flexural vibration modes to propel the system at variable and controllable velocities (Figure 6b,c) 105. Other resonant ambulatory microrobots have reported maximum forward velocities of 520 mm s −1 at 350 Hz 106.…”

Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 97%

Materials as Machines

2020

View full text Add to dashboard Cite

of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

show abstract

Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 97%

Materials as Machines

2020

View full text Add to dashboard Cite

show abstract

“…To ensure actuator operation in the endoscopic biopsy channel, a light-weight surface milli-walker based on piezoelectric actuation was designed and reported in our recent research [30]. Although its overall size met the size limit of an endoscope, the actuator needs a pre-pressure track, which was provided by an electromagnet and corresponding power supply wire in actual installation, and the resultant overall size turned out to be too large to be integrated into the biopsy channel of an endoscope.…”

Section: Micro Piezoelectric Actuator In the Endoscopic Biopsy Channelmentioning

confidence: 99%

“…Due to their distinguished features of a high precision [22,23], quick response [24,25], simple structure [26,27], and miniature size [28,29], piezoelectric actuators have emerged as one of the promising candidates. Our recent work demonstrated the capability of a small-sized piezoelectric actuator (diameter 3 mm) being operated in an endoscopic biopsy channel (OLYMPUS, Tokyo, Japan) for releasing targeted drugs [30]. However, the operation of a piezoelectric actuator in the endoscopic biopsy channel can also yield an elevated temperature of over 42 • C, which has been suggested to be the safe temperature limit, resulting in a temperature rising problem, as mentioned above.…”

Section: Introductionmentioning

confidence: 99%

Analyses of the Temperature Field of a Piezoelectric Micro Actuator in the Endoscopic Biopsy Channel

2019

View full text Add to dashboard Cite

Micro actuators have been used to realize the arrival of digestive tract lesions for the local targeted application of drugs in endoscopes. However, there still exists a key safety issue that casts a shadow over the practical and safe implementation of actuators in the human body, namely an overheated environment caused by actuators’ operation. Herein, with the aim of solving the temperature rising problem of a piezoelectric micro actuator operating in an endoscopic biopsy channel (OLYMPUS, Tokyo, Japan), a thermal finite element method (FEM) based on COMSOL Multiphysics software is proposed. The temperature distribution and its rising curves are obtained by the FEM method. Both the simulated and experimental maximum temperatures are larger than the safety value (e.g., 42 °C for human tissues) when the driving voltage of the actuator is 200 Vpp, which proves that the overheating problem really exists in the actuator. Furthermore, the results show that the calculated temperature rising curves correspond to the experimental results, proving the effectiveness of this FEM method. Therefore, we introduce a temperature control method through optimizing the duty ratio of the actuator. In comparison with a 100% duty ratio operation condition, it is found that a 60% duty ratio with a driving voltage of 200 Vpp can more effectively prevent the temperature rising issue in the first 3 min, as revealed by the corresponding temperatures of 44.4 and 41.4 °C, respectively. When the duty ratio is adjusted to 30% or less, the temperature rise of the actuator can be significantly reduced to only 36.6 °C, which is close to the initial temperature (36.4 °C). Meanwhile, the speed of the actuator can be well-maintained at a certain level, demonstrating its great applicability for safe operation in the human body.

show abstract

“…Piezoelectric materials have many advantages such as fast response, high resolution, high power density, high bandwidth, self-locking at power-off state, and no electromagnetic interference, [21][22][23][24][25][26] which are beneficial to realize the miniaturization and improve the output characteristics of millirobots. Robots using thin piezoelectric films have been successfully developed to achieve miniaturization, [27][28][29][30] fast motion, [27][28][29]31] high resolution, [27] good robustness, [30] and high agility. [32,33] However, their applications are limited to some extent because one piezoelectric millirobot can only realize two or three of these characteristics.…”

Section: Introductionmentioning

confidence: 99%

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Liu

Deng

et al. 2021

Advanced Intelligent Systems

View full text Add to dashboard Cite

Miniaturization, fast motion, high resolution, high agility, and good adaptability are relatively contradictory characteristics in mobile robot design. It is indeed a challenge to satisfy these performances at the same time. Inspired by the arthropod metamerism in nature, herein, a millirobot composed of three piezoelectric segments is proposed. The millirobot is tethered for power, and the whole size of the millirobot is 58 Â 44 Â 12 mm; it uses several principles of arthropod locomotion, can carry loads and cross obstacles, and also has the rapidity and agility like a centipede through the coordination of multiple piezoelectric segments. Fast motion with a maximum speed of 516 mm s À1 is realized by operating at resonant mode, and stepping motion with a resolution of 0.44 μm is achieved by the pulsed sinusoidal mode. The widest speed range among published reports of millirobots is achieved (from 4.5e À3 to 9 BL s À1 ). Its agility surpasses other piezoelectric millirobots; the linear, steering, and rotational motions are performed and switched flexibly. The results show that fast motion, high resolution, wide speed range, high agility, large load capacity, good adaptability, and miniaturization are successfully achieved by the millirobot.

show abstract

A Lightweight Surface Milli-Walker Based on Piezoelectric Actuation

Cited by 42 publications

References 24 publications

Materials as Machines

Materials as Machines

Analyses of the Temperature Field of a Piezoelectric Micro Actuator in the Endoscopic Biopsy Channel

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Contact Info

Product

Resources

About