Miniature Resonant Ambulatory Robot
2016; Institute of Electrical and Electronics Engineers; Volume: 2; Issue: 1 Linguagem: Inglês
10.1109/lra.2016.2614837
ISSN2377-3766
AutoresShannon A. Rios, Andrew J. Fleming, Yuen Kuan Yong,
Tópico(s)Modular Robots and Swarm Intelligence
ResumoThis article describes the design, manufacture, and performance of a prototype miniature resonant ambulatory robot that uses piezoelectric actuators to achieve locomotion. Each leg is comprised of two piezoelectric bimorph benders, joined at the tip by a flexure and end effector. Combinations of amplitude and phase can be used to produce a wide range of motions including swinging and lifting. A lumped mass model previously developed is described as a design tool to tune the resonance modes of the end effector. The completed robot was driven with frequencies up to 500 Hz resulting in a maximum forward velocity of approximately 520 mm/s at 350 Hz. A frequency analysis was also performed to determine the effects of ground contact on the performance of the robot. This analysis showed a significant reduction in the resonance gain and frequency.
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