An amphibious vibration-driven microrobot with a piezoelectric actuator

Becker, Felix; Zimmermann, Klaus; Volkova, Tatiana; Minchenya, V. T.

doi:10.1134/s1560354713010048

Cited by 21 publications

(17 citation statements)

References 17 publications

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“…Among other robotic devices developed to operate at an air-water interface, there exist several other prior designs that leverage on-board vibration sources for selfpropulsion [39,40,41,42]. In contrast to the rigid-body response of the SurferBot, each of these prior designs relies on excitation of resonant modes of a flexible robotic structure to achieve kinematics inspired by water striders.…”

Section: Discussionmentioning

confidence: 99%

SurferBot: A wave-propelled aquatic vibrobot

Rhee,

Hunt,

Thomson

et al. 2022

Preprint

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Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a centimeter-scale vibrating robotic device that self-propels on a fluid surface using analogous hydrodynamic mechanisms as the stricken honeybee. This low-cost and easily assembled device is capable of rectilinear motion thanks to forces arising from a wave-generated, unbalanced momentum flux, achieving speeds on the order of centimeters per second. Owing to the dimensions of the SurferBot and amplitude of the capillary wave field, we find that the magnitude of the propulsive force is similar to that of the honeybee. In addition to a detailed description of the fluid mechanics underpinning the SurferBot propulsion, other modes of SurferBot locomotion are discussed. More broadly, we propose that the SurferBot can be used to explore fundamental aspects of active and driven particles at fluid interfaces, as well as in robotics and fluid mechanics pedagogy.

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Section: Discussionmentioning

confidence: 99%

SurferBot: A wave-propelled aquatic vibrobot

Rhee,

Hunt,

Thomson

et al. 2022

Preprint

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“…The second main issue of this research is amphibious locomotion [26][27][28][29][30]. The locomotion mechanism of many amphibious robots has been developed by taking inspiration from living things.…”

Section: Introductionmentioning

confidence: 99%

Vibration-Based Locomotion of an Amphibious Robot

2021

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In this research, an innovative robot is presented that can move both on land and water thanks to a vibration-based locomotion mechanism. The robot consists of a U-shaped beam made of spring steel, two low-density feet that allow it to stand on the water surface without sinking, and a micro-DC motor with eccentric mass, which excites vibrations. The robot exhibits stable terrestrial and aquatic locomotion based on the synchronization between body vibrations and the centrifugal force due to the eccentric mass. On the one hand, in aquatic locomotion, the robot advances thanks to floating oscillations and the asymmetric shape of the floating feet. On the other hand, the terrestrial locomotion, which has already been demonstrated for a similar robot, exploits the modes of vibration of the elastic beam. In this study, the effect of different excitation frequencies on the locomotion speed in water is examined by means of experimental tests and a numerical model. A good agreement between experimental and numerical results is found. The maximum locomotion speed takes place when the floating modes of vibration are excited.

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“…Tahrik sisteminin oluşturduğu titreşim ile, düz sert zeminlerde ve su yüzeyinde ilerleyebilen piezo-mikro robotlar, yüksek enerji verimine sahiptirler. Piezoelektrik sistemde elektrik enerjisinin yaklaşık %90' ı mekanik enerjiye dönüştürülebilmektedir [20]. Yakın zamanda, karada ve su üzerinde yürüyebilen ve bu yüzeyler arasındaki geçişi sağlayabilen dört ayaklı piezo-amfibik mikro robotlar geliştirilmiştir [21].…”

Section: Introductionunclassified

Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

Tapan

Reis

2020

Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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Bu çalışma, robotik uygulamaları için, titreşime dayalı olarak hem karada hem de su üzerinde hareket edebilen, yenilikçi bir ilerleme mekanizmasını tanıtmaktadır. İlerleme mekanizması, su üzerinde batmadan durmasını sağlayan düşük yoğunluklu dikey kanat profiline sahip iki ayaktan ve U şeklinde yay çeliğinden üretilmiş elastik bir çubuktan oluşmaktadır. U şekilli çubuğun ortasına yerleştirilen basit bir sarkaç vasıtası ile sistem titreşime zorlanarak ilerleme gerçekleştirilmektedir. Su içerisinde dikey konumlandırılmış ayaklar salınım yaptıkça ön ve arka yüzeyler arasında oluşan basınç farkı ile robot ileri yönde hareket etmektedir. Karadaki hareketi ise elastik kirişin doğal titreşim modlarına bağlı olarak gerçekleşmektedir. Çalışmada farklı titreşim frekanslarının ilerleme hızına ve yer değiştirme maliyetine etkisi deneyler ile incelenmiş ve sonuçlar yorumlanmıştır. Buna ek olarak ön modelin yer değiştirme maliyeti (CoT) literatürdeki bazı robotlar ve canlılar ile karşılaştırılmıştır.

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An amphibious vibration-driven microrobot with a piezoelectric actuator

Cited by 21 publications

References 17 publications

SurferBot: A wave-propelled aquatic vibrobot

SurferBot: A wave-propelled aquatic vibrobot

Vibration-Based Locomotion of an Amphibious Robot

Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

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