What is it about?
This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage, and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages, and its gait cycle is described.
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Why is it important?
The robot's speed is derived through kinematic modeling and experimentally verified using a fabricated prototype. The robot prototype's performance in terms of its payload capability and nominal operating power is also characterized experimentally.
Perspectives
These results will be important for developing a motion planning control strategy for a autonomous robot locomotion, which will be part of future work.
Dr Hassan Hussein Hariri
Singapore University of Technology and Design
Read the Original
This page is a summary of: Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage, Journal of Mechanisms and Robotics, February 2018, ASME International,
DOI: 10.1115/1.4038970.
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