Design of a two degree of freedom resonant miniature robotic leg

Rios, Shannon A.; Fleming, Andrew J.; Yong, Yuen Kuan

doi:10.1109/aim.2015.7222551

Cited by 9 publications

(9 citation statements)

References 15 publications

(14 reference statements)

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“…A monolithic piezoelectric miniature robot was produced which utilizes the resonance modes to achieve ambulatory locomotion. This paper represents a continuation of previous work describing a lumped mass model used to design the leg such that the first two resonance modes are aligned [14]. The resulting monolithic robot was able to achieve an average resonance mode of 308 Hz and 323 Hz for each leg, with a spread of 1 Hz and 3 Hz respectively.…”

Section: Performancementioning

confidence: 82%

“…where A, B , and P are constants and the subscripts y, f , p, l , θ, x and z refer to the y-axis, flexure, bender, endeffector, rotational degree of freedom, x-axis and z-axis respectively [14]. These models highlight key design parameters that strongly affect stiffness and lumped mass and therefore the resonance modes of the leg.…”

Section: A Modelingmentioning

confidence: 99%

“…Previous work has involved the design of a three degree of freedom lumped mass model of a leg [14]. This model is used to design the leg in such a way that the first two resonance modes are closely matched.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design and characterization of a miniature monolithic piezoelectric hexapod robot

Rios

Fleming

Yong

2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper describes the design, construction and performance of a miniature monolithic piezoelectric hexapod robot. Locomotion is achieved by driving the piezoelectric elements at the mid point between the first and second resonance modes to produce an ambulatory motion. The monolithic robot was milled out of a single piece of outwardly poled piezoelectric bimorph using an ultrasonic milling machine. Silver electrodes were evaporated onto the bimorph to isolate the individual piezoelectric elements from each other. The leg end-effectors of the robot were milled from aluminum and a previously described lumped mass model was used to design the end-effectors such that the swinging and lifting resonance modes were closely matched. The finished robot attained an average swinging and lifting resonance frequency of 308 Hz and 323 Hz with a 1 Hz and 3 Hz spread between the legs respectively.

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Section: Performancementioning

confidence: 82%

Section: A Modelingmentioning

confidence: 99%

See 1 more Smart Citation

Design and characterization of a miniature monolithic piezoelectric hexapod robot

Rios

Fleming

Yong

2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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“…Figure 10. Schematic representation of (a) a miniature robot and (b) the structure of a two-degree of freedom robotic leg (Rios, Fleming, & Yong, 2015).…”

Section: Robotic Legmentioning

confidence: 99%

The Developments of piezoelectric Materials and Shape Memory Alloys in Robotic Actuator Systems

Mohammed

Kök

Qader

et al. 2019

European Journal of Science and Technology

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There is a high demand for functional smart materials, especially for new material groups in advanced Technologies. These materials are used in the actuator, sensor, control systems, and robotic systems, in addition, they can be hybridized with traditional material to create a particular function. Piezoelectric materials and shape memory alloys are the most important families among these groups. This review includes an overview of shape memory alloys (SMAs) and piezoelectric material actuator systems in terms of robotic applications. The theoretical background of each SMAs and piezoelectric materials is well explained. Different types of each system are interpreted. Using actuator-based SMAs and piezoelectricity in the robotic area is extensively overviewed. Some weaknesses and challenges facing such systems have discussed through recent studies in the literature.

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“…As a displacement device, actuators are widely used in many types of micromechanical devices like walking, swimming, jumping robots and so on [4][5][6]. Among them, especially, the actuator plays a critical role in obtaining sufficient lift force.…”

Section: Introductionmentioning

confidence: 99%

A Dual Stage Low Power Converter Driving for Piezoelectric Actuator Applied in Micro Mobile Robot

Chen

Wang

2018

Applied Sciences

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Piezoelectric actuators are widely utilized to convert electrical energy into mechanical strain with considerable potential in micro mobile robot applications. However, the use of Pb-based Lanthanumdoped Zirconate Titanates (PZTs) leads to two difficulties in drive circuit design, namely, high voltage step-up ratio and high energy conversion efficiency. When some devices driven by piezoelectric actuators are used in emerging technologies, such as micro mobile robot, to perform special tasks, low mass, high energy density, and high conversion efficiency are strategically important. When these demands are considered, conventional drive circuits exhibit the disadvantages of being too bulky and inefficient for low mass applications. To overcome the aforementioned drawbacks, and to address the need for a piezoelectric bimorph actuator, this work proposed a high step-up ratio flyback converter cascaded with a bidirectional half-bridge stage controlled, via a pulse width modulation strategy, and a novel control method. Simulations and experiments were conducted to verify the ability of the proposed converter to drive a 100 V-input piezoelectric bimorph actuator using a prototype 108 mg (excluding printed circuit board mass), 169 (13 × 13) mm2, and 500 mW converter.

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Design of a two degree of freedom resonant miniature robotic leg

Cited by 9 publications

References 15 publications

Design and characterization of a miniature monolithic piezoelectric hexapod robot

Design and characterization of a miniature monolithic piezoelectric hexapod robot

The Developments of piezoelectric Materials and Shape Memory Alloys in Robotic Actuator Systems

A Dual Stage Low Power Converter Driving for Piezoelectric Actuator Applied in Micro Mobile Robot

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