Development and Improvement of a Piezoelectrically Driven Miniature Robot.

Area of Science:

• Robotics
• Micro-robotics
• Actuator Technology

Background:

• Miniature robots offer unique advantages in various applications.
• Developing efficient and robust locomotion systems for small-scale robots remains a challenge.
• Piezoelectric actuators present a promising solution for compact and powerful robotic systems.

Purpose of the Study:

• To design and fabricate a miniature quadrupedal piezoelectric robot.
• To develop a novel manufacturing method for piezoelectric actuators.
• To model, optimize, and characterize the robot's locomotion system.

Main Methods:

• Utilized a novel spatial parallel mechanism for robot transmission.
• Developed a new manufacturing technique for piezoelectric actuators using patterned PZT pieces and FR-4 solder pads.
• Modeled and optimized the lift powertrain, analyzing frequency response and resonance.
• Tested robot speed and payload capacity under various conditions.

Main Results:

• Achieved a robot mass of 1.8 g and body length of 4.6 cm.
• Developed a reliable manufacturing method for piezoelectric actuators, enhancing durability.
• Optimized leg powertrain achieved an output force 1.38 times the required walking force.
• Demonstrated a maximum speed of 48.66 cm/s and a payload capacity of 5.5 g (3.05 times its mass).

Conclusions:

• The proposed miniature quadrupedal piezoelectric robot demonstrates effective locomotion with high speed and payload capacity.
• The novel manufacturing method for piezoelectric actuators enhances reliability and performance.
• The optimized design and understanding of powertrain resonance are crucial for micro-robot performance.