Development of a miniature quadrupedal piezoelectric robot combining fast speed and nano-resolution

Li, Jing; Deng, Jie; Zhang, Shijing; Liu, Yingxiang

doi:10.1016/j.ijmecsci.2023.108276

Cited by 25 publications

(10 citation statements)

References 67 publications

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“…According to related research works, it is known that similar types of robots also utilize elliptical trajectories in conjunction with friction to generate driving forces. [3,31,39,43,44] However, in the elliptical trajectories characterized in Figure 2c, the majority of research works essentially use the displacement trajectories of the stages S 3 -S 4 to drive the robot. The trajectories in stages S 1 and S 2 separate the robot from the ground and overcome its roughness, with practically no driving effect.…”

Section: Working Mechanismmentioning

confidence: 99%

“…Since the amplitudes v and w are higher than the 1 μm utilized to drive the robot, [43,44] the HPMR is able to operate in the oscillating and rotating modes.…”

Section: Simulation Analysismentioning

confidence: 99%

“…[ 39,40 ] This fulfills the requirement for fast motion, which is then configured and optimized to obtain specific motion capabilities. For example, the insect‐scale [ 41 ] or spiral soft robots [ 42 ] manufactured by PVDF exhibited exceptional speed performance adopting the jumping gait mechanism; the arthropod‐metamerism robot [ 43 ] or MQPR, [ 44 ] proposed by Liu, could guarantee both fast motion and high displacement resolution, as well as weight bearing and climbing; the TMMR designed by Wang [ 45 ] could swim on water, but this required extra oscillating paddles on the driving legs. All of the aforementioned robots, despite their impressive performance, operate in the single‐energy input, one motion‐output mode.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fast‐Moving and Highly Adaptable Hollow Piezoelectric Miniature Robot

Zhu,

Wang

2024

Advanced Intelligent Systems

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Fast motion and high adaptability are crucial for the practical applications of miniature robots. However, combining these capabilities into a single robot skillfully is challenging, particularly in the domain of miniature structural design. Inspired by the amphibious motion of crocodiles in nature, a hollow piezoelectric miniature robot (HPMR) is proposed. The key benefit of the HPMR is to concurrently output the oscillating motion of the driving foot (oscillating mode) and the rotating motion of the internal rotor (rotating mode). That is, the mode of single‐energy‐input‐multimotion output allows the robot to balance the requirements of speed and adaptability. In the oscillating mode, HPMR can run at speeds of up to 12.3 BL s−1 and realize a displacement resolution of 0.3 μm. Following the conical rotor assembly, the rotor can operate at a speed of 890 krpm, with a displacement resolution of 7.28 mrad. In the rotating mode, the robot demonstrates its multitasking ability in moving amphibiously, carrying loads, running on surfaces with varying roughness, crossing obstacles, and resisting shocks. The results show that the HPMR is capable of fast, high‐resolution moving combined with high adaptability, opening up the possibility of using it for mobile detection tasks in real‐world settings.

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Section: Working Mechanismmentioning

confidence: 99%

“…Since the amplitudes v and w are higher than the 1 μm utilized to drive the robot, [43,44] the HPMR is able to operate in the oscillating and rotating modes.…”

Section: Simulation Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fast‐Moving and Highly Adaptable Hollow Piezoelectric Miniature Robot

Zhu,

Wang

2024

Advanced Intelligent Systems

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show abstract

“…[ 1,38–42 ] Such robots should be developed to combine the performances of conventional XYθ ‐axis precision stages using ball screws with a maximum speed of around 10 mm s −1 with a repeatability of 0.5 μm, [ 43–45 ] and precise piezoelectric stages with a resolution of 1 nm within the range of around 0.2 mm. [ 46–50 ] Among these, some nonholonomic mobile robots incorporating piezoelectric elements [ 51–54 ] exhibit remarkable performance, including high speed and excellent mobility across challenging terrain. However, their suitability for precision tasks in confined spaces is limited due to their restricted mobility, stemming from their nonholonomic nature.…”

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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“…Bionic robots mainly include rigid robots driven by motors [11][12][13] and soft robots represented by flexible materials [14][15][16][17]. In terms of rigid robots driven by motors, microrobots represented by piezoelectric materials are more representative [18,19]. In micro-robots driven by piezoelectric materials, the typical structural form is a torso and two-legged robot [20].…”

Section: Introductionmentioning

confidence: 99%

Modeling and optimization of motion for inchworm-inspired magnetically driven soft robot

Di,

Zhang,

Wen

et al. 2023

Robotica

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At present, the research of soft crawling robot pays more attention to the material manufacturing, but neglects the robot modeling. The high degree of freedom of the soft crawling robot makes it more difficult to establish its motion model and analyzes its motion performance. The centimeter-level wireless driven soft crawling robot has great advantages and application scenarios in narrow space exploration. Therefore, this paper proposed a soft robot driven by magnetism to crawling inchworm. By studying the crawling behavior of inchworm and the characteristics of flexible materials driven by magnetism, the structure of the soft robot was designed and the motion model of inchworm was established. The motion model is analyzed and simulated, the structure size of the robot is optimized, and the effectiveness of the model is verified by experiments. The robot’s crawling motion is realized by coupling the structure of the robot’s torso and legs with the flexible magnetic film. Driven by the alternating magnetic field, the maximum motion speed of the robot is 28.24 mm/s. At the same time, the robot can also move in narrow space such as pipes, which can satisfy the centimeter-level space detection and ensure the high efficiency, providing a new idea for narrow space detection.

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Development of a miniature quadrupedal piezoelectric robot combining fast speed and nano-resolution

Cited by 25 publications

References 67 publications

Fast‐Moving and Highly Adaptable Hollow Piezoelectric Miniature Robot

Fast‐Moving and Highly Adaptable Hollow Piezoelectric Miniature Robot

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

Modeling and optimization of motion for inchworm-inspired magnetically driven soft robot

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