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A Quadruped Micro-Robot Based on Piezoelectric Driving.

Qi Su1, Qiquan Quan2, Jie Deng3

  • 1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China. 18b308002@stu.hit.edu.cn.

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|March 10, 2018
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Summary

A novel piezoelectric quadruped micro-robot utilizes hybrid bending vibrations for locomotion. This rowing-inspired robot achieves a speed of 33.45 mm/s and can carry a load 4 times its own weight.

Keywords:
bending-bending modeslegged robotminiaturizationresonant vibration

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Micro-robotics presents challenges in locomotion and power.
  • Piezoelectric actuators offer precise control and miniaturization potential.

Purpose of the Study:

  • To propose and test a novel piezoelectric driving quadruped micro-robot.
  • To investigate its operation in bending-bending hybrid vibration modes.
  • To analyze its driving principle and mechanical output.

Main Methods:

  • Fabrication of a quadruped micro-robot with piezoelectric ceramic plates.
  • Utilizing bending-bending hybrid vibration modes for elliptical foot trajectory.
  • Finite Element Method (FEM) simulation for vibration characteristics.
  • Experimental testing of vibration and mechanical output.

Main Results:

  • The robot operates based on hybrid vertical and horizontal bending vibrations.
  • FEM simulations accurately predicted resonance frequencies and vibration amplitudes.
  • Experimental results validated the simulated vibration characteristics.
  • The micro-robot (49.8 g) demonstrated a maximum load capacity of 200 g and a speed of 33.45 mm/s.

Conclusions:

  • The proposed piezoelectric driving quadruped micro-robot effectively uses hybrid vibration modes for motion.
  • The design shows promising capabilities for micro-robot applications requiring significant load capacity and speed.
  • The study validates the FEM simulation approach for predicting robot performance.