Development and Improvement of a Piezoelectrically Driven Miniature Robot
<p>(<b>a</b>) A CAD model of the miniature robot. (<b>b</b>) A schematic diagram of the powertrain. (<b>c</b>) The prototype of the miniature robot contrasted with a coin.</p> "> Figure 2
<p>(<b>a</b>) Explosion view of the actuator. (<b>b</b>) The CAD model of the actuator. (<b>c</b>) The physical picture of the actuators.</p> "> Figure 3
<p>(<b>a</b>) The stacking order of the actuator components. (<b>b</b>) The positional relationship of the alumina, PZT, and FR-4 jig in the same plane. (<b>c</b>) The top view schematic diagram of the stacked laminate.</p> "> Figure 4
<p>(<b>a</b>) The stacked laminate using discrete PZT pieces and its cutting path. (<b>b</b>) The stacked laminate using a whole piece of PZT and its cutting path.</p> "> Figure 5
<p>The simplified model drawing of the lift powertrain.</p> "> Figure 6
<p>(<b>a</b>) The optimization results of the leg output force on different combination lengths [<span class="html-italic">L</span><sub>1</sub>, <span class="html-italic">L</span><sub>2</sub>, <span class="html-italic">L<sub>leg-x</sub></span>, and <span class="html-italic">L<sub>leg-y</sub></span>] of the links for flexure hinges of different thicknesses. (<b>b</b>) Relationship between different hinge thicknesses and the corresponding maximum leg output forces.</p> "> Figure 7
<p>The relationship between the output force of the legs and the co-ordinate points formed by different combinations of link lengths.</p> "> Figure 8
<p>(<b>a</b>) Experimental setup for measuring actuator forces. (<b>b</b>) Experimental setup for measuring actuator displacements.</p> "> Figure 9
<p>The experimental setup for the force measurement of a leg of the robot.</p> "> Figure 10
<p>Experimental setup for frequency response of the swing (<b>left</b>) and lift (<b>right</b>) DOFs of the leg.</p> "> Figure 11
<p>(<b>a</b>) Layout diagram of the actuators below the circuit board. (<b>b</b>) The drive signals of eight actuators for the robot to move forward in a trot gait. (<b>c</b>) The motion trajectory of two robot legs on the same side under the drive signal of trot gait. (<b>d</b>) Footfall patterns of the trot gait.</p> "> Figure 12
<p>Experimental setup for robot locomotion test.</p> "> Figure 13
<p>(<b>a</b>) Experimental results of the block force (peak-to-peak value) of three different actuator versions. (<b>b</b>) Experimental results of the displacement (peak-to-peak value) of three different actuator versions. (<b>c</b>) Force–displacement curves for ‘AC’ actuators driven at 210 V. Each error bar is the standard deviation acquired from five actuators with the same design parameters.</p> "> Figure 14
<p>The experimental and simulation results of the leg force at different displacements. Each error bar of the experimental results is the standard deviation of the five repeated experiments.</p> "> Figure 15
<p>Frequency responses and second-order oscillation model fitting of the powertrain of the front left leg.</p> "> Figure 16
<p>(<b>a</b>) The speed of the robot with no payload under different drive frequencies. (<b>b</b>) The speed of the robot with different payloads. Each error bar is the standard deviation of five repeated experiments.</p> "> Figure 17
<p>Representative frames captured by camera when the miniature robot reaches a speed of 48.66 cm/s.</p> ">
Abstract
:1. Introduction
2. Overall Design
3. Piezoelectric Actuator Manufacturing
4. Transmission Parameters Design
5. Experiments
5.1. Force and Displacement Experiments of Piezoelectric Actuators
5.2. The Leg’s Quasi-Static Force Experiments
5.3. Dynamic Model Identification Experiments of the Powertrain
5.4. Locomotion Test of the Robot
6. Results and Discussion
6.1. Forces and Displacements of Piezoelectric Actuators
6.2. The Leg’s Quasi-Static Force Results
6.3. Dynamic Model Identification Results of Powertrain
6.4. The Locomotion Performance of the Robot
7. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
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Robots | Length (cm) | Mass (g) | Maximum Speed (cm/s) | Highlights | Refs |
---|---|---|---|---|---|
SMR-O | 4.6 | 1.8 | 48.66 | Greater payload capacity of 5.5 g compared to HAMR; exoskeletons, legs, and hip joints monolithically integrated and manufactured. | This paper |
HAMR-VP | 4.4 | 1.27 | 37 | Improved manufacturing and assembly speed of robots through the pop-up process. Increased payload capacity to 1.35 g compared to previous versions of robots. | [14] |
DASH | 10 | 16.2 | 150 | The highest speed among miniature robots. | [17] |
MinRAR | 5.5 | 16 | 52 | A fast speed driven at the resonance frequency. | [26] |
RoACH | 3 | 2.4 | 3 | The first robot to use smart composite microstructure technology. | [9] |
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Wu, G.; Wang, Z.; Wu, Y.; Zhao, J.; Cui, F.; Zhang, Y.; Chen, W. Development and Improvement of a Piezoelectrically Driven Miniature Robot. Biomimetics 2024, 9, 226. https://doi.org/10.3390/biomimetics9040226
Wu G, Wang Z, Wu Y, Zhao J, Cui F, Zhang Y, Chen W. Development and Improvement of a Piezoelectrically Driven Miniature Robot. Biomimetics. 2024; 9(4):226. https://doi.org/10.3390/biomimetics9040226
Chicago/Turabian StyleWu, Guangping, Ziyang Wang, Yuting Wu, Jiaxin Zhao, Feng Cui, Yichen Zhang, and Wenyuan Chen. 2024. "Development and Improvement of a Piezoelectrically Driven Miniature Robot" Biomimetics 9, no. 4: 226. https://doi.org/10.3390/biomimetics9040226