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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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Toward broad optimal output bandwidth dielectric elastomer actuators

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Science China(Technological Sciences) 2022年第5期65卷 1137-1148页

作者： CAO ChongJing CHEN LiJin LI Bo CHEN GuiMin NIE ZeDong WANG Lei GAO Xing Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology(SIAT)Chinese Academy of SciencesShenzhen518055China Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an710049China

Dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation ***,existing DEA designs suffer from a very narrow optimal output bandwidth close to resonance and poor output control capability due to their fixed geometrical *** condition greatly limits their applications in programmable actuation and broad-bandwidth ***,this work developed a novel resonance tunable DEA(RTDEA)design for broad-optimal-output actuation bandwidths that is enabled by an integration of a stiffness and voltage control *** design features a broad resonant frequency adjustment from 84 to 126 Hz and independent tunings of its resonant amplitude and *** studies were conducted to illustrate the fundamental principles behind the resonance tuning strategy,and optimization was performed to maximize the tuning ***,a resonance tuning control strategy is proposed to achieve accurate adjustments of the RTDEA’s resonance based on the stiffness and voltage control *** resonance tunable soft actuators are envisioned to greatly expand DEAs’applications in,for instance,soft robotic locomotion,human–robot communication,and active vibrational control with demands of broad actuation bandwidths and high output performance.

关键词： dielectric elastomer actuators soft robotics soft actuators resonance tuning resonant actuation

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