Miniature Piezoelectric Mobile Robot driven by Standing Wave
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This document describes the design, fabrication, and testing of a miniature piezoelectric mobile robot driven by standing waves. The robot uses a piezoelectric unimorph actuator with rigid legs to move via ultrasonic standing waves. A model of the actuator is developed and used to determine resonant frequencies and optimal leg positions. A prototype is fabricated and tested, demonstrating locomotion at different frequencies. Future work aims to improve design for straight, bidirectional motion and integrate onboard electronics.
Miniature Piezoelectric Mobile Robot driven by Standing Wave
- 1. Miniature Piezoelectric Mobile Robot driven by Standing Wave Hassan Hussein Hariri, Gim Song Soh, Shaohui Foong, Kevin Otto, Kristin Wood hassan_hariri@sutd.edu.sg 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015
- 2. Copyright Hassan Hussein Hariri 2015 Overview Fundamental Principle of Standing Wave Ultrasonic Linear Motor Robot Structure Locomotion principle Legs positions for the robot at 𝑓1 & 𝑓3 Modeling of the piezoelectric unimorph actuator Design Fabrication Experiments Conclusion & future work 2
- 3. Copyright Hassan Hussein Hariri 2015 Fundamental Principle of Standing Wave Ultrasonic Linear Motor 3 Vibrating beam Slider Moving direction
- 4. Copyright Hassan Hussein Hariri 2015 Fundamental Principle of Standing Wave Ultrasonic Linear Motor 4 Slider Moving direction Vibrating beam
- 5. Copyright Hassan Hussein Hariri 2015 Robot Structure Piezoelectric unimorph actuator with rigidly attached legs 5 Piezoelectric beam Elastic beam Rigid Legs
- 6. Copyright Hassan Hussein Hariri 2015 Locomotion principle 6 Vibrating beam Substrate Vibrating beam Substrate Moving direction Moving direction
- 7. Copyright Hassan Hussein Hariri 2015 Locomotion principle 7 Vibrating beam Substrate Vibrating beam Substrate Moving direction Moving direction Substrate
- 8. Copyright Hassan Hussein Hariri 2015 Locomotion principle 8 Locomotion principle for one leg during one cycle of motion
- 9. Copyright Hassan Hussein Hariri 2015 Legs positions for the robot at 𝑓1 & 𝑓3 9
- 10. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator Geometric parameters 10 Electric field 𝒙 𝒚 𝒛 𝒍 𝒕 𝒎 𝒕 𝒑 Piezoelectric beam Elastic beam Poling 𝒃
- 11. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator Kinematics of the deformation 11
- 12. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator The dynamic equation of motion 12 (1) (2) (3) (4) (5)
- 13. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator Resonance frequencies and mode shapes (using eq. 1) 13 (6) (7) (8) (9) (10) (11) (12)
- 14. Copyright Hassan Hussein Hariri 2015 Design NCE53, soft PZT from Noliac Inc. Aluminum Both the PZT and Aluminum have similar dimensions except for thickness 14
- 15. Copyright Hassan Hussein Hariri 2015 Design Legs positions for the robot at 𝑓1 = 2.41 kHz & 𝑓3 = 12.77 kHz (using eq. 9 & eq. 10) 15
- 16. Copyright Hassan Hussein Hariri 2015 Fabrication Legs positions on the aluminium beam 16
- 17. Copyright Hassan Hussein Hariri 2015 Fabrication Prototype of the piezoelectric robot with an embedded mass 17
- 18. Copyright Hassan Hussein Hariri 2015 Experiments 𝑓1 = 2.41 kHz (analytically) & 𝑓1 = 2.6 kHz (Experimentally) 18
- 19. Copyright Hassan Hussein Hariri 2015 Experiments 𝑓3 = 12.77 kHz (analytically) & 𝑓1 = 12.7 kHz (Experimentally) 19
- 20. Copyright Hassan Hussein Hariri 2015 Experiments Slow motion at 𝑓1 with high speed motion capture system 20
- 21. Copyright Hassan Hussein Hariri 2015 Experiments Speed versus applied voltage on acrylic substrate 21
- 22. Copyright Hassan Hussein Hariri 2015 Conclusion & future work Conclusion – Inspired from linear ultrasonic motor, the operation principle for miniature piezoelectric mobile robot is explained – A model for unimorph piezoelectric actuator is developed – A prototype for the robot is made and experimental verifications are done Future work – Improve the design to avoid curved motion and keep it straight in both directions – Show an onbord electronics for the robot 22
- 23. QUESTIONS? 23