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Optimisation of a Multi-Functional Piezoelectric Component for a Climbing Robot.

Zachary J Wegert¹, Anthony P Roberts¹, Tirthankar Bandyopadhyay²

¹School of Mathematical Sciences, Queensland University of Technology, 2 George Street, Brisbane, QLD 4000, Australia.

Materials (Basel, Switzerland)

|July 29, 2023

Summary

Researchers optimized a lightweight piezoelectric force sensor for the MAGNETO climbing robot. This integrated sensor offers improved performance and reduced weight compared to traditional sensors, enhancing robotic capabilities.

Keywords:

climbing robot piezoelectric sensor structural optimisation

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

Off-the-shelf force sensors for climbing robots are often heavy and bulky.
There is a need for lightweight, integrated sensing solutions for robotic applications.

Purpose of the Study:

To optimize a lightweight, integrated piezoelectric force sensor for the MAGNETO climbing robot.
To achieve minimal compliance, robust sensing, and structural integrity in the sensor design.

Main Methods:

Structural optimization techniques were employed.
A compliance minimization problem with constrained voltage and volume fraction was addressed.
Designs were computationally studied and compared to a reference component.

Main Results:

Optimized designs were developed that meet the criteria for lightweight, minimal compliance, and sensing capability.
The optimized piezoelectric component demonstrated improved performance over baseline results.
The study confirmed the feasibility of embedding piezoelectric sensors in robotic components.

Conclusions:

Optimized piezoelectric force sensors offer a viable lightweight alternative for climbing robots.
Further investigation into embedded piezoelectric sensing for robotics is warranted.
This research advances the development of more capable and efficient climbing robots.