Development of PZT and PZN-PT based unimorph actuators for micromechanical flapping mechanisms

Sitti, Metin; Campolo, Domenico; Yan, Jie; Fearing, Ronald S.

doi:10.1109/robot.2001.933216

Cited by 72 publications

(47 citation statements)

References 16 publications

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“…For modeling purposes, a piezoelectric actuator can be treated as a twoport element that transduces voltage and current to force and velocity. See [17] for more details on dynamic modeling of the actuator.…”

Section: A Actuatormentioning

confidence: 99%

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Finio¹,

Perez-Arancibia²,

Wood³

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.

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Section: A Actuatormentioning

confidence: 99%

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Finio¹,

Perez-Arancibia²,

Wood³

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…They are fast, light, compact, easy to fabricate, and have low power consumption. Moreover, the simple design and fabrication method of piezoelectric unimorph actuators was most suitable for the water strider robot [8]. However, they have small motion and require high voltages.…”

Section: Design Of the Robotmentioning

confidence: 99%

“…6. Among various kinds of piezoelectric materials, Pb(Zr,Ti)O 3 (PZT-5H, Piezo Systems Inc.) is chosen [8,10]. Stainless steel is used as the elastic layer of the unimorph actuator.…”

Section: B Piezoelectric Unimorph Actuator Analysismentioning

confidence: 99%

Biologically Inspired Miniature Water Strider Robot

Suhr

Song²,

Lee³

et al. 2005

Robotics: Science and Systems I

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Abstract-Recent biological studies on water strider insects revealed the detailed mechanism of their staying and walking on water. While macro scale bodies use buoyancy to stay on water, these very light and small insects balance their weight using repulsive surface tension forces where the insect legs are covered with hydrophobic micro-hairs. Utilizing the unique scaling advantage of these insects, this paper proposes a biologically inspired miniature micro-robot walking on water with a similar principle. The paper focuses on understanding physical characteristics of the insect and designing a robot that mimics the insect's movement. Highly hydrophobic Teflon ® coated wires are used for the legs to take advantage of surface tension force, and the robot body is made of carbon fibers for minimal weight. A T-shaped actuation mechanism with three PZT-5H based unimorph actuators is utilized to move the side legs of the robot independently for controlled locomotion. Kinematics and dynamic properties of the robot prototype are analyzed and compared with the experimental results. The tethered robot can successfully move forward, backward and can also make turns. Maximum speed of the robot in forward motion is 2.3 cm/s. In the future, environmental monitoring applications on dams, lakes, sea, etc. would become possible using a network of these robots with miniature sensors, an on-board power source and electronics.

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“…This method has the benefits of not only being simple to construct, but also this structure has the ability to be driven parasitically from the body vibrations of the MFI. The second method places the haltere on the output link of a fourbar mechanism driven by a piezoelectric actuator, similar to the method used to drive the MFI wing as described in [3], [9], [11].…”

Section: Haltere Design Issuesmentioning

confidence: 99%

Halteres for the micromechanical flying insect

Wu¹,

Wood²,

Fearing³

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

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The mechanism which real flying insects use to detect body rotation has been simulated. The results show that an angular rate sensor can be made based on such a biological mechanism. Two types of biomimetic gyroscopes have been constructed using foils of stainless steel. The first device is connected directly to a compliant cantilever. The second device is placed on a mechanically amplifying fourbar structure. Both devices are driven by piezoelectric actuators and detect the Coriolis force using strain gages. The experimental results show successful measurements of angular velocities and these devices have the benefits of low power and high sensitivity.

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Development of PZT and PZN-PT based unimorph actuators for micromechanical flapping mechanisms

Cited by 72 publications

References 16 publications

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Biologically Inspired Miniature Water Strider Robot

Halteres for the micromechanical flying insect

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