Study on a new type of miniature piezo walking robot

Peng, Fenglin; Liu, Hainan; Zheng, Lan

doi:10.1088/1361-665x/abe04d

Cited by 11 publications

(8 citation statements)

References 33 publications

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“…[ 1,38–42 ] Such robots should be developed to combine the performances of conventional XYθ ‐axis precision stages using ball screws with a maximum speed of around 10 mm s −1 with a repeatability of 0.5 μm, [ 43–45 ] and precise piezoelectric stages with a resolution of 1 nm within the range of around 0.2 mm. [ 46–50 ] Among these, some nonholonomic mobile robots incorporating piezoelectric elements [ 51–54 ] exhibit remarkable performance, including high speed and excellent mobility across challenging terrain. However, their suitability for precision tasks in confined spaces is limited due to their restricted mobility, stemming from their nonholonomic nature.…”

Section: Introductionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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Section: Introductionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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“…The driven frequency of this robot was up to 500 Hz and achieved a maximum forward velocity of approximately 520 mm s −1 at 350 Hz. Fan et al [39] designed a small-scale piezoelectric-driven walking robot which employed eight pieces of PBAs to achieve a direct drive. With an exciting frequency of 75 Hz, the walking robot can move at the velocity of 93.7 mm s −1 .…”

Section: Introductionmentioning

confidence: 99%

A 3-DOF inertial impact locomotion robot constructed on four piezoelectric bimorph actuators

Li¹,

Zhang²,

Liu³

et al. 2022

Smart Mater. Struct.

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An inertial impact locomotion robot (IILR), consisting of a base, three supporting feet and four vertically distributed piezoelectric bimorph actuators (PBAs), was developed in this work. The IILR could complete plane locomotion with three degrees of freedom (DOFs), including translation along X-axis, translation along Y-axis and rotation around Z-axis. The inertial impact force driving the IILR was generated by the PBAs through vibration. A simplified dynamic model of the IILR was established to predict its locomotion characteristics. Then, a prototype was fabricated, whose size was Φ114 × 14 mm3 and weight was 160.5 g. Then the locomotion performances and carrying capability of the IILR were tested, the results indicated that the maximum linear velocity was 76.66 μm/s and the maximum rotary velocity was 161.19 μrad/s under voltage of 600 Vp-p and frequency of 9 Hz, respectively. In addition, the maximum carrying load was 1600 g (about 9.97 times of self-weight). The experiment results were also in good agreement with the dynamics simulation results. Overall, the IILR held the characteristics of multiple DOFs, large carrying capability, simple structure and no electromagnetic interference; therefore, it could be suitable for precision positioning and carrying applications such as wafer inspection, microscopic observation and operation.

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“…The robots driven by magnetic actuators and electrostatic actuators usually need a huge external power supply to provide magnetic and electric fields, respectively, and they are vulnerable to electromagnetic interference, which limits their application fields. Compared with these actuation components, the PA has the advantages of high dynamic response, high precision and miniaturization [16,17], so PA is a suitable candidate of the driving unit of miniature robots [18,19].…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and experiment of a miniature biped piezoelectric robot

Wang

Deng

Liu

et al. 2022

Smart Mater. Struct.

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A novel miniature biped piezoelectric robot (MBPR) was designed with a patch-type beam structure. The robot utilizes an asymmetric friction-inertial driving principle to realize linear motion. The prominent feature is that it can move linearly under low frequency and low voltage, which is beneficial for untethered driving of the robot. In addition, the robot has the advantages of simple structure, convenience for multi-degree-of-freedom extension and strong load capacity. The effect of different dimensional parameters on the motion of the MBPR was studied and a prototype was fabricated, whose size was 39×15×4mm3 and weighed 0.9g. The MBPR achieved a maximum speed of 0.4 body length per second (BL/s). To expand the motion degree of freedom, an array of MBPR was fabricated and tested. The results indicated that the robot array realized linear motion of 1.3mm/s and rotation motion of 1.6°/s. The array could carry a load of 25g (13.8 times self-weight), which shows strong load capacity based on its lightweight structure. Finally, we designed a robot consisted of the array and an untethered power supply, 2-DOF untethered motion could be realized on the plane, which was conducive to finish large-scale movement and tasks in narrow environments.

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Study on a new type of miniature piezo walking robot

Cited by 11 publications

References 33 publications

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

A 3-DOF inertial impact locomotion robot constructed on four piezoelectric bimorph actuators

Design, modeling and experiment of a miniature biped piezoelectric robot

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