Design of a Mobile Microrobot Based on Standing and Travelling Waves

Bansevicius, R.; Drukteinienė, Asta; Kulvietis, Genadijus; Tumasoniene, I.

doi:10.5772/56111

Cited by 10 publications

(10 citation statements)

References 14 publications

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“…In addition, the control signals used in switch boxes can be combined to obtain angular and planar motions at the same time. Additionally, different algorithms used for planning planar and angular motion trajectories can be applied to obtain synchronous or asynchronous motions of the robot and spherical payload [ 21 ]. Moreover, to obtain higher output forces or resolutions, the control algorithm can be set up to use burst type or DC signals.…”

Section: Design and Operation Principle Of The Robotmentioning

confidence: 99%

Ring-Shaped Piezoelectric 5-DOF Robot for Angular-Planar Motion

et al. 2022

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This paper provides numerical and experimental investigations of a ring-shaped piezoelectric 5-DOF robot that performs planar and angular motions of spherical payload. The robot consists of a piezoelectric ring glued on a special stainless-steel ring with three spikes oriented in the radial direction of the ring. The spherical payload is placed on top of the piezoelectric ring and is moved or rotated when a particular excitation regime is used. An alumina oxide ball is glued at the end of each spike of the steel ring and is used as contacting element. The spikes are used to transfer vibrations of the piezoelectric ring to contacting elements and to induce the planar motion of the payload. Additionally, three alumina oxide balls are glued on the top surface of the piezoelectric ring and are used to generate rotational motion of the spherical payload by impacting it. Finally, the top electrode of the piezoceramic ring is divided into six equal sections and is used to control the direction of angular and planar motion of the payload. Numerical modeling of the robot showed that vibration modes suitable for angular and planar motions are obtained at a frequency of 28.25 kHz and 41.86 kHz, respectively. Experimental investigation showed that the maximum angular velocity of the payload is 30.12 RPM while the maximum linear motion of the robot is 29.34 mm/s when an excitation voltage of 200 Vp-p was applied and a payload of 25.1 g was used.

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Section: Design and Operation Principle Of The Robotmentioning

confidence: 99%

Ring-Shaped Piezoelectric 5-DOF Robot for Angular-Planar Motion

et al. 2022

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“…The trajectory planning algorithms and robust control can be applied to obtain the required planar motion direction and it accuracy [22][23][24][25][26][27]. Voltage amplitude and electric signal timing can be used as input parameters of the algorithms.…”

Section: The Design and Operation Principle Of The Platformmentioning

confidence: 99%

2-DOF Small-Size Piezoelectric Locomotion Platform with the Unlimited Motion Range

2021

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This paper presents numerical and experimental investigations of a small size piezoelectric locomotion platform that provides unlimited planar motion. The platform consists of three piezoelectric bimorph plates attached to the equilateral triangle-shaped structure by an angle of 60 degrees. Alumina spheres are glued at the bottom of each plate and are used as a contacting element. The planar motion of the platform is generated via excitation of the first bending mode of the corresponding plate using a single harmonic signal while the remaining plates operate as passive supports. The direction of the platform motion controlled by switching electric signal between piezoelectric plates. A numerical investigation of the 2-DOF platform was performed, and it was found out that the operation frequency of the bimorph plates is 23.67 kHz, while harmonic response analysis showed that the maximum displacement amplitude of the contact point reached 563.6 µm in the vertical direction while an excitation signal of 210 Vp-p is applied. Prototype of the 2-DOF piezoelectric platform was made, and an experimental study was performed. The maximum linear velocity of 44.45 mm/s was obtained when preload force and voltage of 0.546 N and 210 Vp-p were applied, respectively.

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“…It can be seen that control of the motion direction can be implemented using digitally controlled switching of a single harmonic signal. Special trajectory-planning algorithms can be used to generate the required planar or rotational motion of the output link [ 25 ]. The algorithms include variation in amplitudes of electric signals, duration time, and sequences of switching control.…”

Section: Design and Operation Principle Of The Actuatormentioning

confidence: 99%

Development of a Novel 2-DOF Rotary–Linear Piezoelectric Actuator Operating under Hybrid Bending–Radial Vibration Mode

2021

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The paper presents a numerical and experimental investigation of a novel two degrees of freedom (2-DOF) piezoelectric actuator that can generate rotary motion of the sphere-shaped rotor as well as induce planar motion of the flat stage. The actuator has a small size and simple design and can be integrated into a printed circuit board (PCB). The application field of the actuator is small-dimensional and high-precision positioning systems. The piezoelectric actuator comprises three rectangular bimorph plates joined with arcs and arranged by an angle of 120 degrees. A high-stiffness rod is glued on the top surface of each bimorph plate and is used to rotate the rotor or move flat stage employing contact friction force. Three U-shaped structures are used for the actuator clamping. 2-DOF rotational or planar movement is obtained by applying a harmonic or asymmetric electrical signal. The operation principle of the actuator is based on the superposition of the B20 out-of-plane bending mode of the bimorph plates and the B03 radial vibration mode of the ring. Design optimization has been performed to maximize amplitudes of contact point vibration. A prototype of the actuator was made, and a maximum rotation speed of 795.15 RPM was achieved while preload of 546.03 mN was applied. The linear velocity of 36.45 mm/s was obtained at the same preload force. Resolution measurement showed that the actuator can achieve an angular resolution of 17.48 µrad and a linear resolution of 2.75 µm.

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Design of a Mobile Microrobot Based on Standing and Travelling Waves

Cited by 10 publications

References 14 publications

Ring-Shaped Piezoelectric 5-DOF Robot for Angular-Planar Motion

Ring-Shaped Piezoelectric 5-DOF Robot for Angular-Planar Motion

2-DOF Small-Size Piezoelectric Locomotion Platform with the Unlimited Motion Range

Development of a Novel 2-DOF Rotary–Linear Piezoelectric Actuator Operating under Hybrid Bending–Radial Vibration Mode

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