Developments and Challenges of Miniature Piezoelectric Robots: A Review

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

doi:10.1002/advs.202305128

Cited by 14 publications

(1 citation statement)

References 355 publications

(524 reference statements)

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“…Miniature robots generally refer to robots with feature sizes less than 10 cm [1]. In recent years, robots at this scale have become a hotspot for researchers.…”

Section: Introductionmentioning

confidence: 99%

Development and Improvement of a Piezoelectrically Driven Miniature Robot

Wu,

Wang,

et al. 2024

Biomimetics

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In this paper, we proposed a miniature quadrupedal piezoelectric robot with a mass of 1.8 g and a body length of 4.6 cm. The robot adopts a novel spatial parallel mechanism as its transmission. Each leg of the robot has two degrees of freedom (DOFs): swing and lift. The trajectory necessary for walking is achieved by the appropriate phasing of these two DOFs. A new manufacturing method for piezoelectric actuators was developed. During the stacking process, discrete patterned PZT pieces are used to avoid dielectric failure caused by laser cutting. Copper-clad FR-4 is used as the solder pad instead of copper foil, making the connection between the pad and the actuator more reliable. The lift powertrain of the robot was modeled and the link length of the powertrain was optimized based on the model. The maximum output force of each leg can reach 26 mN under optimized design parameters, which is 1.38 times the required force for successful walking. The frequency response of the powertrain was measured and fitted to the second-order system, which enabled increased leg amplitudes near the powertrain resonance of approximately 70 Hz with adjusted drive signals. The maximum speed of the robot without load reached 48.66 cm/s (10.58 body lengths per second) and the payload capacity can reach 5.5 g (3.05 times its mass) near the powertrain resonance.

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“…Miniature robots generally refer to robots with feature sizes less than 10 cm [1]. In recent years, robots at this scale have become a hotspot for researchers.…”

Section: Introductionmentioning

confidence: 99%

Development and Improvement of a Piezoelectrically Driven Miniature Robot

Wu,

Wang,

et al. 2024

Biomimetics

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Conformal Ordered Solid–Liquid Coupled Piezoelectric Units for Programmable Adaptive Optics

Ren,

Gao,

Jin

et al. 2024

Adv Funct Materials

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Ordered piezoelectric units are designed to achieve unnaturally large strains and artificial vibrational modes, owing to the synergistic effects of multiple units. However, when interfacing with another physical field, the challenge for ordered piezoelectric units is to achieve precise control of individual unit independently while maintaining a large manipulation range. In this study, conformal ordered solid–liquid coupled piezoelectric units are introduced, which effectively reduce stress transfer by as much as 84% between units via incorporating a liquid phase into each unit. This design allows for the generation of considerable strain levels (up to ɛZ = 1.13%) when used with a flexible layer and optimized structure. Hence, these conformal ordered piezoelectric units achieve simultaneous production of large strains and independent electromechanical control for each individual unit. As a practical illustration, a biomimetic piezoelectric adaptive lens and a lens array based on solid–liquid coupled piezoelectric units are designed and fabricated. They offer an extensive zoom range from 100.3 mm to infinity, ultra‐high diopter sensitivity of 70 D mV−1, ultra‐rapid response time of 50 µs, and programmable optical focusing through individual manipulation of each unit. This research paves the way for inspiring new designs for piezoelectric metamaterials and devices for intelligent electromechanical systems.

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Monolithic Integration of Printable PVDF‐TrFE Piezoelectric Multifunctional Devices: From Sensing to Actuation

Lee,

Bandari,

Paliakkara

et al. 2024

Adv Funct Materials

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This study demonstrates the development of multifunctional printable piezoelectric actuators using PVDF‐TrFE and PEDOT:PSS, capable of operating at low voltages and supporting a wide range of applications. By leveraging the high piezoelectric coefficient of PVDF‐TrFE and the conductivity of PEDOT:PSS, the actuators exhibit stable performance with precise inkjet printing deposition and optimized waveform parameters. The fabrication process integrates inkjet printing and standard lithography, enabling monolithic integration for high‐performance actuation and multifunctional sensing. The PVDF‐TrFE‐based actuators achieve low‐voltage operation (as low as 50 V), efficient energy transfer, and mechanical stability. Enhancing the beta phase of PVDF‐TrFE resulted in a deflection of ≈600 µm and vortex generation, crucial for lift in aerial robotic applications. Durability tests confirmed minimal performance degradation after 2,300 actuation cycles. Beyond mechanical deflection, the actuators exhibit sound detection and strain sensing capabilities. Experimental evaluations validated their ability to differentiate sound frequencies, detect muscle strain, and replicate bio‐inspired flight dynamics. A preliminary proof of concept for a double‐wing structure demonstrated lift generation at low voltages and resonant frequencies. The results indicate that these piezoelectric actuators are well‐suited for miniaturized robotic applications, particularly in aerial locomotion and multifunctional sensing, opening new possibilities for innovations in micro‐robotics, wearables, and aerial robotics.

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Developments and Challenges of Miniature Piezoelectric Robots: A Review

Cited by 14 publications

References 355 publications

Development and Improvement of a Piezoelectrically Driven Miniature Robot

Development and Improvement of a Piezoelectrically Driven Miniature Robot

Conformal Ordered Solid–Liquid Coupled Piezoelectric Units for Programmable Adaptive Optics

Monolithic Integration of Printable PVDF‐TrFE Piezoelectric Multifunctional Devices: From Sensing to Actuation

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