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Design and experiments of a small resonant inchworm piezoelectric robot

Science China(Technological Sciences) 2023年第3期66卷 821-829页

作者： DENG Jie YANG ChengLin LIU YingXiang ZHANG ShiJing LI Jing MA XueFeng XIE Hui State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

A small resonant inchworm piezoelectric robot with six driving feet which are set evenly along the circumference is proposed and tested.A bonded-type structure is adopted to realize a small *** radial bending vibration mode and longitudinal vibration mode are excited at the same *** superposition of these two vibration modes makes the driving feet produce elliptical *** the driving force can be generated by friction coupling between the driving foot and the operating *** structure of the robot is designed by finite element *** geometric parameters are adjusted to make the resonant frequencies of the vibration modes as close as *** elliptical trajectories generated at the driving feet are discussed in *** vibration and motion characteristics of the prototype are tested,and the resonant frequencies of the radial bending mode and the longitudinal vibration mode are degenerated *** optimal working frequency of the prototype is 21.5 *** maximum speed of the prototype is 200 mm/s,and the displacement resolution is 0.71μ*** measured results show that the resonant inchworm piezoelectric robot can be used for fast and high-precision transportation in narrow space.

关键词： piezoelectric robot resonant actuation inchworm movement bending and longitudinal vibration

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A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

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Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： YU HongPeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 15000lChina

piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

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维普期刊数据库

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