Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots
| Autor: | J. Hernando-García, José Luis Sánchez-Rojas, Víctor Ruiz-Díez, Jose Luis García-Caraballo |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
leg
0209 industrial biotechnology Acoustics lcsh:Mechanical engineering and machinery 02 engineering and technology Article Standing wave 020901 industrial engineering & automation Normal mode lcsh:TJ1-1570 traveling wave Electrical and Electronic Engineering Coupling Physics business.industry Mechanical Engineering Work (physics) Robotics robot 021001 nanoscience & nanotechnology miniature Piezoelectricity Mechanism (engineering) Control and Systems Engineering standing wave Robot Artificial intelligence piezoelectric 0210 nano-technology business |
| Zdroj: | Micromachines Micromachines, Vol 12, Iss 171, p 171 (2021) Volume 12 Issue 2 |
| ISSN: | 2072-666X |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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