- Title
- Monolithic piezoelectric insect With resonance walking
- Creator
- Rios, Shannon A.; Fleming, Andrew J.; Yong, Yuen Kuan
- Relation
- IEEE - ASME Transactions on Mechatronics Vol. 23, Issue 2, p. 524-530
- Publisher Link
- http://dx.doi.org/10.1109/TMECH.2018.2792618
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2018
- Description
- This paper describes the design, manufacture, and performance of an untethered hexapod robot titled MinRAR V2. This robot utilizes a monolithic piezoelectric element machined to allow for individual activation of bending actuators. The legs were designed so that the first two resonance modes overlap and therefore produce a walking motion at resonance. The monolithic construction significantly improves the matching of resonance modes between legs when compared with previous designs. Miniature control and high-voltage driving electronics were designed to drive 24 separate piezoelectric elements powered from a single 3.7 V lithium polymer battery. The robot was driven both tethered and untethered, and was able to achieve a maximum forward velocity of 98 mm/s when driven at 190 Hz and 6 mm/s at 5 Hz untethered. The robot is capable of a wide range of movements including banking, on the spot turning, and reverse motion.
- Subject
- legged locomotion; piezoelectric actuators; voltage control; batteries; electrodes
- Identifier
- http://hdl.handle.net/1959.13/1429719
- Identifier
- uon:38757
- Identifier
- ISSN:1083-4435
- Language
- eng
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