Miniature robots with three degrees of freedom

Koyanagi, Takuya; Fukui, Ren; Torii, Akihiro; Ueda, Atsushi

doi:10.1109/mhs.2000.903314

Cited by 6 publications

(2 citation statements)

References 4 publications

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“…The clamper is used to clamp the device into the substrate while the extensor generates the stroke required for the displacement. Examples of inchworm locomotion in piezoelectric miniature robots are given in Fuchiwaki and Aoyama (2002), Koyanagi et al (2000), Torii et al (2001), Yan et al (2005) and Wood (2008).…”

Section: Inchworm Locomotionmentioning

confidence: 99%

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2021

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ATINER is an Athens-based World Association of Academics and Researchers based in Athens.ATINER is an independent and non-profit Association with a Mission to become a forum where Academics and Researchers from all over the world can meet in Athens, exchange ideas on their research and discuss future developments in their disciplines, as well as engage with professionals from other fields. Athens was chosen because of its long history of academic gatherings, which go back thousands of years to Plato"s Academy and Aristotle"s Lyceum. Both these historic places are within walking distance from ATINER"s downtown offices. Since antiquity, Athens was an open city. In the words of Pericles, Athens"…is open to the world, we never expel a foreigner from learning or seeing". ("Pericles" Funeral Oration", in Thucydides, The History of the Peloponnesian War). It is ATINER"s mission to revive the glory of Ancient Athens by inviting the World Academic Community to the city, to learn from each other in an environment of freedom and respect for other people"s opinions and beliefs. After all, the free expression of one"s opinion formed the basis for the development of democracy, and Athens was its cradle. As it turned out, the Golden Age of Athens was in fact, the Golden Age of the Western Civilization. Education and (Re)searching for the "truth" are the pillars of any free (democratic) society. This is the reason why Education and Research are the two core words in ATINER"s name.

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Section: Inchworm Locomotionmentioning

confidence: 99%

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2021

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“…We proposed the micro robot consisting of three piezos and three electromagnets [2]- [4]. It realized the linear and rotational displacement.…”

Section: Introductionmentioning

confidence: 99%

Micro robot actuated by rapid deformation of piezoelectric elements

Fukui

Torii²,

Ueda³

MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. No.01TH8583)

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A micro robot actuated by rapid deformation of piezoelectric elements (piezos) is described in this paper. The robot was originally designed to be driven by the similar principle of an inchworm. The adhesion of the electromagnet and the deformation of the piezos made the step displacement of the robot. In this paper, a new control method is proposed. The micro robot is driven by the rapid deformation of the piezos. The adhesion of the electromagnet is not used. Conventional precision positioners, which were actuated by the rapid deformation of the piezos, needed an extra mass. The proposed method does not need any extra mass. The robot realizes the rotational displacement. The principle and the performance of the robot actuated by the rapid deformation of the piezos are described. The piezos are controlled by rectangular waveforms which cause by the rapid deformations of the piezos. Two piezos are deformed simultaneously, i.e. one peizo is extended and the other is contracted by the control waveform. The inertial force causes a step displacement. The rotational displacement in clockwise and counter clockwise direction is obtained. The step rotational displacement obtained is approximately 0.0014".

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