Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation

Yu, Hongpeng; Liu, Yingxiang; Deng, Jie; Li, Jing; Zhang, Shijing; Chen, Weishan; Zhao, Jie

doi:10.1002/aisy.202100142

Cited by 23 publications

(18 citation statements)

References 41 publications

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“… Comparison of typical micromanipulation robots and XY stage [ 22 , 24 , 27 ]. Scores are evaluated based on the reference [ 27 ] (refer to Table S1 of the Supplementary Materials for the quantitative comparison of the performances). …”

Section: Figurementioning

confidence: 99%

“…Typical types of motion principles include stick–slip [ 19 , 20 , 21 , 22 ], centrifugal force [ 23 ], USM [ 24 , 25 ], and inchworm [ 26 ]. Figure 1 shows a comparison of the representative micromanipulation robots and the XY stage [ 22 , 24 , 27 ]. These robots have distinct advantages in terms of their specific performance, such as motion range, velocity, carrying capacity, and motion resolution.…”

Section: Introductionmentioning

confidence: 99%

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Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

et al. 2023

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In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional–integral–derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes.

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Section: Figurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

et al. 2023

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“…To achieve high displacement smoothness characteristic at low speed actuation, the quasi-static output displacement of the driving leg in the horizontal direction should reach micron level [34]. The voltage signal shown in figure 2 is applied to the driving foot, and the rising time (T s ) to maximum voltage is changed respectively, so as to explore the low-speed characteristics of the single driving foot.…”

Section: Principle Of Low Speed and Smooth Actuationmentioning

confidence: 99%

A low speed piezoelectric actuator with high displacement smoothness and its multi-objective optimized method

Cheng,

Chen,

et al. 2023

Smart Mater. Struct.

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Piezoelectric actuators are widely utilized in the precision industry field, but the existing piezoelectric actuators are difficult to achieve high displacement smoothness at low speed, which limits the practical application of the piezoelectric actuators. This work proposes a piezoelectric actuator that can achieve high displacement smoothness through a multi-leg coordinated actuation principle. A multi-objective optimized method based on adaptive mutation genetic algorithm is utilized to design the driving leg by comprehensively considering five design variables. The design goal of the maximum displacement of the driving foot and the minimum size of the driving leg are achieved. A prototype is fabricated and the characteristics are tested. The experimental results demonstrate the effectiveness of the optimized method. High displacement smoothness at low speed is also achieved. The output displacements of the proposed actuator at different driving voltages and frequencies show no regression and intermittent motion. The linearity R 2 could reach 0.9978, and the low output speed of the actuator could reach 22.69 µrad s−1 at voltage of 100 Vp–p and frequency of 1 Hz.

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“…Therefore, precise mobile micromanipulators have also been studied. [1,[38][39][40][41][42] Such robots should be developed to combine the DOI: 10.1002/aisy.202300517 Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces.…”

Section: Introductionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation

Cited by 23 publications

References 41 publications

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

A low speed piezoelectric actuator with high displacement smoothness and its multi-objective optimized method

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

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