期刊
SMART MATERIALS AND STRUCTURES
卷 31, 期 7, 页码 -出版社
IOP Publishing Ltd
DOI: 10.1088/1361-665X/ac6f9f
关键词
biped piezoelectric robot; patch-type beam structure; friction-inertial principle; untethered driving; strong load capacity
资金
- National Natural Science Foundation of China [5210051275, U1913215]
- Interdisciplinary Research Foundation of HIT [IR2021233]
- China Postdoctoral Science Foundation [2021M690830]
A novel miniature biped piezoelectric robot (MBPR) was designed, which can achieve linear motion under low frequency and low voltage. It has a simple structure and strong load capacity, making it suitable for large-scale movement and tasks in narrow environments.
A novel miniature biped piezoelectric robot (MBPR) was designed with a patch-type beam structure. The robot utilizes an asymmetric friction-inertial driving principle to realize linear motion. The prominent feature is that it can move linearly under low frequency and low voltage, which is beneficial for untethered driving of the robot. In addition, the robot has the advantages of simple structure, convenience for multi-degree-of-freedom extension and strong load capacity. The effect of different dimensional parameters on the motion of the MBPR was studied and a prototype was fabricated, whose size was 39 x 15 x 4 mm(3) and weighed 0.9 g. The MBPR achieved a maximum speed of 0.4 body length per second. To expand the motion degree of freedom, an array of MBPR was fabricated and tested. The results indicated that the robot array realized linear motion of 1.3 mm s(-1) and rotation motion of 1.6 degrees s(-1). The array could carry a load of 25 g (13.8 times self-weight), which shows strong load capacity based on its lightweight structure. Finally, we designed a robot consisted of the array and an untethered power supply, 2-DOF untethered motion could be realized on the plane, which was conducive to finish large-scale movement and tasks in narrow environments.
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