A traveling wave piezoelectric beam robot

Hariri, Hassan; Bernard, Yves; Razek, A.

doi:10.1088/0964-1726/23/2/025013

Cited by 72 publications

(75 citation statements)

References 14 publications

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“…Experiments have shown that it was possible to control phase and amplitude even in transient and obtained a large travelling wave with standing wave ratio nearly equal to one. The principal applications domain of travelling wave are acoustic levitation [9]- [11], piezoelectric miniature robot [12], [13], Transportation of objects using linear ultrasonic motor [14]- [18]. In the first part, the principle of a new excitation method of vibration modes, using multi-modal approach is presented, with analytical modelling, showing the possibility to excite the beam with vibration amplitude.…”

Section: Introductionmentioning

confidence: 99%

Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method

Ghenna

Giraud

Giraud-Audine

et al. 2015

2015 Joint Conference of the IEEE International Frequency Control Symposium &Amp; The European Frequency and Time Forum

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is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible. Abstract-This paper presents a new method to produce and control the vibration amplitude and direction of a travelling wave in a finite beam, using multi-modal approach. A closed loop control of the transducer vibration is applied using vector control method. the modelling in rotating frame and the decoupling according to two-axis allows to obtain a double independent closed loop control. This allows to regulate the vibration amplitude of the travelling wave directly. An analytical modelling is presented, with experimental validation, showing good performances even in the presence of perturbations.

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Section: Introductionmentioning

confidence: 99%

Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method

Ghenna

Giraud

Giraud-Audine

et al. 2015

2015 Joint Conference of the IEEE International Frequency Control Symposium &Amp; The European Frequency and Time Forum

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“…We observe that the amplitude of the wave is determined by the initial condition V(0, 0). The traveling waves for elastoplastic beams can be applied to study piezoelectric robots; see [27].…”

Section: Traveling Waves In Rods and Beams Of Arbitrary Lengthmentioning

confidence: 99%

“…Let us consider the initial conditions ( , 0) = 1 ( ) and ( , 0) = 0. In this case we have (0) = 1 and we can solve the second equation in (27). A special solution of this initial value problem is given by…”

Section: Special Waves In Rods and Beams Of Finite Lengthmentioning

confidence: 99%

Nonlinear Waves in Rods and Beams of Power-Law Materials

Wei

Skrzypacz

2017

Journal of Applied Mathematics

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Some novel traveling waves and special solutions to the 1D nonlinear dynamic equations of rod and beam of power-law materials are found in closed forms. The traveling solutions represent waves of high elevation that propagates without change of forms in time. These waves resemble the usual kink waves except that they do not possess bounded elevations. The special solutions satisfying certain boundary and initial conditions are presented to demonstrate the nonlinear behavior of the materials. This note demonstrates the apparent distinctions between linear elastic and nonlinear plastic waves.

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“…For those robots whose movement relies on the generation of stationary waves, millimeter-sized legged devices have already been reported [14][15][16]. Furthermore, in the case of traveling waves, the state of the art involves the locomotion of 180-mm long plates actuated by piezoelectric patches, without using legs [17,18]. Taking these as the background, the present work aimed to further develop the traveling-wave-based locomotion of miniature plates with two piezoelectric patches.…”

Section: Introductionmentioning

confidence: 99%

Motion of a Legged Bidirectional Miniature Piezoelectric Robot Based on Traveling Wave Generation

et al. 2020

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This article reports on the locomotion performance of a miniature robot that features 3D-printed rigid legs driven by linear traveling waves (TWs). The robot structure was a millimeter-sized rectangular glass plate with two piezoelectric patches attached, which allowed for traveling wave generation at a frequency between the resonant frequencies of two contiguous flexural modes. As a first goal, the location and size of the piezoelectric patches were calculated to maximize the structural displacement while preserving a standing wave ratio close to 1 (cancellation of wave reflections from the boundaries). The design guidelines were supported by an analytical 1D model of the structure and could be related to the second derivative of the modal shapes without the need to rely on more complex numerical simulations. Additionally, legs were bonded to the glass plate to facilitate the locomotion of the structure; these were fabricated using 3D stereolithography printing, with a range of lengths from 0.5 mm to 1.5 mm. The optimal location of the legs was deduced from the profile of the traveling wave envelope. As a result of integrating both the optimal patch length and the legs, the speed of the robot reached as high as 100 mm/s, equivalent to 5 body lengths per second (BL/s), at a voltage of 65 Vpp and a frequency of 168 kHz. The blocking force was also measured and results showed the expected increase with the mass loading. Furthermore, the robot could carry a load that was 40 times its weight, opening the potential for an autonomous version with power and circuits on board for communication, control, sensing, or other applications.

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A traveling wave piezoelectric beam robot

Cited by 72 publications

References 14 publications

Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method

Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method

Nonlinear Waves in Rods and Beams of Power-Law Materials

Motion of a Legged Bidirectional Miniature Piezoelectric Robot Based on Traveling Wave Generation

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