2010 IEEE International Conference on Robotics and Automation 2010
DOI: 10.1109/robot.2010.5509158
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A multi-cell piezoelectric device for tunable resonance actuation and energy harvesting

Abstract: Variable stiffness actuation and energy harvesting have been important yet separate challenges in robotics. Both functions are needed, however, for mobile robots on extended missions when actuators and generators must be used together. In this paper, we present a unique piezoelectric cellular system that combines motion generation and energy harvesting capabilities into a single, scalable device. Each of the discrete cellular units provides linear, contractile motion at 10% strain using the converse piezoelect… Show more

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Cited by 5 publications
(6 citation statements)
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“…The cantilevers in array are usually connected in series to generate large output voltage or parallel to generate large current. The optimal impedance of series connection is the resistance in series of each matched impedance, the optimal impedance of parallel connection is the resistance in parallel of each matched impedance (Al-Ashtari et al, 2013;Dang et al, 2011;Secord et al, 2010;Wen et al, 2014). Due to the existence of phase between the cantilevers, the power after connection did not reach 100% of the sum of all cantilevers.…”
Section: Connection Of Cantilever Arraymentioning
confidence: 99%
“…The cantilevers in array are usually connected in series to generate large output voltage or parallel to generate large current. The optimal impedance of series connection is the resistance in series of each matched impedance, the optimal impedance of parallel connection is the resistance in parallel of each matched impedance (Al-Ashtari et al, 2013;Dang et al, 2011;Secord et al, 2010;Wen et al, 2014). Due to the existence of phase between the cantilevers, the power after connection did not reach 100% of the sum of all cantilevers.…”
Section: Connection Of Cantilever Arraymentioning
confidence: 99%
“…where n 1 = L 3 linkage cos u sin uE The nonlinear model derived in equation ( 1) is capable of predicting the frame deformation, which was often ignored by some researchers (Li et al, 2011;Secord et al, 2010;Zhou and Zuo, 2013). The frame deformability is then coupled to the electromechanical modeling of the piezoelectric stack, as detailed in the following section for further analysis in energy output and frame improvement.…”
Section: Nonlinear Parametric Model Of the Force Amplification Ratiomentioning
confidence: 99%
“…In terms of force amplification frame, there are two commonly used mechanisms: the convex shape (Feenstra et al, 2008;Zhou and Zuo, 2013) and the concave shape (Secord et al, 2010). Often, flexures are used to soften the frame stiffness (Secord et al, 2010). In this article, deformable frames with flexure-freeconcave shape are used, as shown in Figure 1.…”
Section: Introductionmentioning
confidence: 99%
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“…However, since each linkage in these mechanisms is subject to a large compressive force due to its positive tilting angle, such type of mechanism is at high risk of local buckling. In order to resolve this problem, Secord et al (2010) and Liu et al (2014) developed a convex force amplification frame so that the stressed applied to the frame is tensile instead of compress. And thus, bulking is not a concern for such a convex design, however, the flexure hinges associated with their designs have produced high manufacturing complexity, and reduced the energy concerting efficiency due to increased potential energy loss (detailed in section ''Piezoelectric stacks with Frames I and II versus a stand-alone piezoelectric stack'').…”
Section: Introductionmentioning
confidence: 99%