Excitation and sensing of multiple vibrating traveling waves in one-dimensional structures

Gabai, Ran; Bucher, Izhak

doi:10.1016/j.jsv.2008.06.013

Cited by 35 publications

(40 citation statements)

References 18 publications

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“…The electromechanical performance of piezoelectric layers on laminates was already well established by Lee and Moon's seminal work [20]. Later reports demonstrated the generation of linear traveling waves on a beam using external actuation forces [21,22], or with two piezoelectric patches on the same beam [23], by combining two vibration modes with appropriate amplitudes and phases. In the latter, the patches were symmetrically situated with respect to the center of the plate, where each of them was actuated with the same sinusoidal signal, but the phase was shifted.…”

Section: Device Designmentioning

confidence: 98%

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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Section: Device Designmentioning

confidence: 98%

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

et al. 2020

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“…Considering the annulus vibration from Eq. (3), it was shown in [15,16], that the generalized coordinates    …”

Section: Waves Identificationmentioning

confidence: 99%

“…The ability to impose a desired wave (with the desired value of SWR/TWR) is a key feature when applying a feedback control. The latter was tested by measuring the spatial response of the annulus (with the scanning laser) for different values of phases for the actuators and calculate the values of SWR and TWR by applying the ellipse method [16]. Examples of the measured and fitted ellipses for three different actuation phases are presented in Figure 12.…”

Section: Traveling Wave Generationmentioning

confidence: 99%

“…By placing the actuators in an equally spaced distribution, the cyclic symmetry is maintained, reducing the modal contamination [14]; thus, near-pure traveling waves can be produced [15]. In order to tightly control the traveling waves, the mechanical design has to comply with several dynamical constraints, as well as the traveling wave control algorithm [16], and the real-time resonance tracking [17].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A rotational traveling wave based levitation device – Modelling, design, and control

Gabai

Ilssar

Shaham

et al. 2017

Sensors and Actuators A: Physical

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“…The ratio that measures the dominance of standing wave over traveling wave in a vibrating structure, termed the standing wave ratio, has been discussed in this context in Refs. [14,15]. Particle transport using an electrostatic traveling field has been investigated experimentally and numerically in Ref.…”

Section: Introductionmentioning

confidence: 99%

Particle current on flexible surfaces excited by harmonic waves

Verma

DasGupta

2013

Phys. Rev. E

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In this paper, a study on the directed particle current on flexible surfaces excited by a harmonic wave is reported. The proposed theory considers three different models for the kinematics of the surface, namely the Euler-Bernoulli, Timoshenko, and Rayleigh surface wave models. The particle-surface interaction terms in the theory incorporate Coulomb friction and inelastic collision between the particle and the surface. Three possible phases of motion, namely sticking, sliding, and jumping, are considered, and the phase transition boundaries are estimated analytically for a general surface model. The effect of various parameters on the particle current and certain statistical features of the particle motion are then studied numerically. Remarkably, the particle current spectra exhibit, in addition to resonance modes, antiresonance and secondary resonance modes and transversal zero crossings. These features have interesting implications for the particle dynamics in terms of dynamic jamming states and particle eddies, which are pointed out. Under certain restricted conditions, averaging calculations are also performed and compared with the corresponding numerical simulations.

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Excitation and sensing of multiple vibrating traveling waves in one-dimensional structures

Cited by 35 publications

References 18 publications

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

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

A rotational traveling wave based levitation device – Modelling, design, and control

Particle current on flexible surfaces excited by harmonic waves

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