Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-Directional Motion

Hariri, Hassan; Soh, Gim Song; Foong, Shaohui; Wood, Kristin L.

doi:10.1109/tro.2017.2656902

Cited by 61 publications

(26 citation statements)

References 14 publications

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“…The driving principles mentioned above have their own merits and drawbacks, and it can be concluded that an excellent micro-robot needs to have the following characteristics: high speed; simple structure, big load capacity and easily controlled [ 10 , 11 , 12 ]. Piezoelectric driving has the superiority of no electromagnetic radiation, fast response, and simple structure [ 13 , 14 , 15 , 16 , 17 , 18 ]. Therefore, more and more scholars pay attention to micro-robots that are based on piezoelectric driving.…”

Section: Introductionmentioning

confidence: 99%

A Quadruped Micro-Robot Based on Piezoelectric Driving

Quan

Deng

et al. 2018

Sensors

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Inspired by a way of rowing, a new piezoelectric driving quadruped micro-robot operating in bending-bending hybrid vibration modes was proposed and tested in this work. The robot consisted of a steel base, four steel connecting pins and four similar driving legs, and all legs were bonded by four piezoelectric ceramic plates. The driving principle is discussed, which is based on the hybrid of first order vertical bending and first order horizontal bending vibrations. The bending-bending hybrid vibration modes motivated the driving foot to form an elliptical trajectory in space. The vibrations of four legs were used to provide the driving forces for robot motion. The proposed robot was fabricated and tested according to driving principle. The vibration characteristics and elliptical movements of the driving feet were simulated by FEM method. Experimental tests of vibration characteristics and mechanical output abilities were carried out. The tested resonance frequencies and vibration amplitudes agreed well with the FEM calculated results. The size of robot is 36 mm × 98 mm × 14 mm, its weight is only 49.8 g, but its maximum load capacity achieves 200 g. Furthermore, the robot can achieve a maximum speed of 33.45 mm/s.

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Section: Introductionmentioning

confidence: 99%

A Quadruped Micro-Robot Based on Piezoelectric Driving

Quan

Deng

et al. 2018

Sensors

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“…A piezoelectric motor has the advantages of a simple structure, convenient control, easy miniaturization, a high displacement resolution, a fast response speed, and miniature precision actuation, which has been widely studied by many researchers [ 1 , 2 ]. According to the working principle, piezoelectric motors can be roughly divided into four types [ 3 , 4 , 5 , 6 , 7 , 8 ], including standing wave, travelling wave, inchworm, and impact motors. The standing wave and travelling wave motors are collectively called an ultrasonic motor.…”

Section: Introductionmentioning

confidence: 99%

A Compact Impact Rotary Motor Based on a Piezoelectric Tube Actuator with Helical Interdigitated Electrodes

Han

Xia

et al. 2018

Sensors

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This paper presents a novel impact rotary motor based on a piezoelectric tube actuator with helical interdigitated electrodes which has a compact structure and high resolution. The assembled prototype motor has a maximum diameter of 15 mm and a length of 65 mm and works under a saw-shaped driving voltage. The LuGre friction model is adopted to analyze the rotary motion process of the motor in the dynamic simulations. From the experimental tests, the first torsional resonant frequency of the piezoelectric tube is 59.289 kHz with a free boundary condition. A series of experiments about the stepping characteristics of different driving voltages, duty cycles, and working frequencies are carried out by a laser Doppler vibrometer based on a fabricated prototype motor. The experimental results show that the prototype rotary motor can produce a maximum torsional angle of about 0.03° using a driving voltage of 480 Vp-p (peak-to-peak driving voltage) with a duty ratio of 0% under a small friction force of about 0.1 N. The motor can produce a maximum average angle of about 2.55 rad/s and a stall torque of 0.4 mN∙m at 8 kHz using a driving voltage of 640 Vp-p with a duty ratio of 0% under a large friction force of about 3.6 N. The prototype can be driven in forward and backward motion and is working in stick-slip mode at low frequencies and slip-slip mode at high frequencies.

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“…A notable recent implementation is a legged piezoelectric miniature robot (LPMR) based on active unimorphs that senses vibration mode disparities of the piezoelectric actuators at different driving frequencies to control motion and speed ( Figure a) 103. The kinematic model for a similar piezoelectric miniature robot made from PZT mounted to an elastic beam has been analytically described, extending fundamental understanding and enabling prediction of motility 104. One such walking robot based on piezoelectric actuation has been demonstrated by Peng et al by employing second order out‐of‐plane flexural vibration modes to propel the system at variable and controllable velocities (Figure 6b,c) 105.…”

Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-Directional Motion

Cited by 61 publications

References 14 publications

A Quadruped Micro-Robot Based on Piezoelectric Driving

A Quadruped Micro-Robot Based on Piezoelectric Driving

A Compact Impact Rotary Motor Based on a Piezoelectric Tube Actuator with Helical Interdigitated Electrodes

Materials as Machines

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