- Title
- Design of a two degree of freedom resonant miniature robotic leg
- Creator
- Rios, Shannon A.; Fleming, Andrew J.; Yong, Yuen Kuan
- Relation
- 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2015). Proceedings of the 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2015) (Busan, Korea 7-11 July, 2015) p. 318-323
- Publisher Link
- http://dx.doi.org/10.1109/AIM.2015.7222551
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2015
- Description
- This article identifies the design considerations for a two degree of freedom (DoF) miniature robotic leg utilizing piezoelectric bimorph actuators with a specific focus on the resonance modes of the system. An analytical model was developed using three independent lumped mass models with superposition for tuning the resonance frequencies and optimizing the performance of the leg. The model was verified both experimentally and using finite element analysis (FEA).
- Subject
- piezoelectric actuators; finite element analysis; legged locomotion; mathematical model
- Identifier
- http://hdl.handle.net/1959.13/1321840
- Identifier
- uon:24460
- Identifier
- ISBN:9781467391078
- Rights
- © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.
- Language
- eng
- Full Text
- Reviewed
- Hits: 837
- Visitors: 1207
- Downloads: 388
| Thumbnail | File | Description | Size | Format | |||
|---|---|---|---|---|---|---|---|
| View Details Download | ATTACHMENT02 | Author final version | 624 KB | Adobe Acrobat PDF | View Details Download |