- Title
- Miniature resonant ambulatory robot
- Creator
- Rios, Shannon A.; Fleming, Andrew J.; Yong, Yuen Kuan
- Relation
- IEEE Robotics and Automation Letters Vol. 2, Issue 1, no. 1-1, p. 337-343
- Publisher Link
- http://dx.doi.org/10.1109/LRA.2016.2614837
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2016
- Description
- This article describes the design, manufacture and performance of a prototype miniature resonant ambulatory robot (MinRAR V1) that uses piezoelectric actuators to achieve locomotion. Each leg is comprised of two piezoelectric bimorph benders, joined at the tip by a flexure and end-effector. Combinations of amplitude and phase can be used to produce a wide range of motions including swinging, and lifting. A lumped mass model previously developed is described as a design tool to tune the resonance modes of the end-effector. The completed robot was driven with frequencies up to 500 Hz resulting in a maximum forward velocity of approximately 520 mm/s at 350 Hz. A frequency analysis was also performed to determine the effects of ground contact on the performance of the robot. This analysis showed a significant reduction in the resonance gain and frequency.
- Subject
- multilegged robots; mechanism design of mobile robots; piezoelectric actuators; mechatronics
- Identifier
- http://hdl.handle.net/1959.13/1320646
- Identifier
- uon:24190
- Identifier
- ISSN:2377-3766
- Rights
- (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
- Language
- eng
- Full Text
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