Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator

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

doi:10.1109/icra.2017.7989710

Cited by 36 publications

(20 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…He et al [ 26 ] reported a standing wave (SW) bidirectional motor for slider motion and, later, others [ 27 , 28 ] demonstrated the locomotion of mm-sized structures based on the same principle. The maneuverability of this last approach was also demonstrated [ 29 ].…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

View full text Add to dashboard Cite

The use of wave-based locomotion mechanisms is already well established in the field of robotics, using either standing waves (SW) or traveling waves (TW). The motivation of this work was to compare both the SW- and the TW-based motion of a 20-mm long sub-gram glass plate, with attached 3D printed legs, and piezoelectric patches for the actuation. The fabrication of the robot did not require sophisticated techniques and the speed of motion was measured under different loading conditions. In the case of the TW mechanism, the influence of using different pairs of modes to generate the TW on the locomotion speed has been studied, as well as the effect of the coupling of the TW motion and the first flexural vibration mode of the legs. This analysis resulted in a maximum unloaded speed of 6 bodylengths/s (BL/s) at 65 V peak-to-peak (Vpp). The SW approach also examined different modes of vibration and a speed of locomotion as high as 14 BL/s was achieved, requiring, unlike the TW case, a highly precise location of the legs on the glass supporting platform and a precise tuning of the excitation frequency.

show abstract

Section: Introductionmentioning

confidence: 99%

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

View full text Add to dashboard Cite

show abstract

“…For example, Audelia G. Dharmawan et al designed a novel legged piezoelectric Miniature Robot, which drives by a single piezoelectric unimorph actuator. By utilizing the difference of bending vibration mode of piezoelectric bending under different driving frequencies and designing the specific position of robot leg to generate similar differential drive mechanism, underdrive motion is realized, and the robot is manipulated to turn left, right and forward [22]. The piezoelectric stack actuators have a single-direction output displacement, which are smaller in size and more rigid than the piezoelectric bending actuators [23].…”

Section: Introductionmentioning

confidence: 99%

Proposal of an Equal-Stiffness and Equal-Stroke 2D Micro-Positioning Platform Driven by Piezoelectric Actuators

Sun

Hao

et al. 2020

Actuators

View full text Add to dashboard Cite

Micro-positioning platform plays an important role in the field of precision positioning such as microelectronics, robotics and biomedicine. This paper proposes an equal-stiffness and equal-stroke 2D micro-positioning platform, which is driven by piezoelectric actuators. The overall structure of the 2D micro-positioning platform adopts a nested structure and the displacement magnification mechanism adopts two hourglass displacement magnification mechanisms. The displacement magnification ratio of the hourglass displacement magnification mechanism was studied, and its structural parameters were optimized. Static stiffness analysis and simulation analysis of the micro-positioning platform were carried out. The simulation stiffness of the micro-positioning platform in the XY direction is 46873 N/m and 46832 N/m respectively. The experimental prototype of the micro-positioning platform was built. Through the measurement experiment with the prototype, the maximum stroke of the micro-positioning platform in the XY direction is 489 μm and 493 μm respectively; the maximum coupling ratio in the XY direction is 2.38% and 2.70% respectively. The research indicates that the micro-positioning platform had the characteristics of small size, equal long stroke, equal stiffness and low coupling ratio in the XY direction.

show abstract

“…En [9] se presenta un robot capaz de nadar en línea recta o virar al excitar su único motor a frecuencia constante o variable, respectivamente. En [4] se propone un robot con un único actuador piezoeléctrico que le hace avanzar en línea recta o girar según se excite a una u otra de , D4 a la izquierda de M, y D2, D5, D6 a su derecha). Cada engranaje cónico "Di" es solidario a una unidad de adhesión "Ai".…”

Section: Introductionunclassified

Planificación de trayectorias de un robot móvil modular con un único actuador

Peidró¹,

Gallego²,

Payá³

et al. 2020

XL Jornadas De Automática: Libro De Actas (Ferrol, 4-6 De Septiembre De 2019)

View full text Add to dashboard Cite

Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator

Cited by 36 publications

References 22 publications

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

Proposal of an Equal-Stiffness and Equal-Stroke 2D Micro-Positioning Platform Driven by Piezoelectric Actuators

Planificación de trayectorias de un robot móvil modular con un único actuador

Contact Info

Product

Resources

About