Single Piezo Actuator Driven Micro Robot for 2-Dimensional Locomotion

机译：单个压电执行器驱动的微型机器人，用于二维运动

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摘要

We analyse two micro robots for 2-dimensional locomotion on a flat surface. Forced bending vibrations of continua are used by both systems which are excited by piezoelectric bending actuators. These vibrations are transformed by non classical legs to complex trajectories at the contact points between robot and environment. The locomotion direction of the system can be controlled by the excitation frequencies of the actuation element. Models are developed and investigated to describe important motion effects of the robots. Furthermore some experimental results are presented.

机译：我们分析了两个微型机器人在平面上的二维运动。两个系统都使用连续体的强迫弯曲振动，该振动由压电弯曲致动器激励。这些振动通过非经典的腿在机器人与环境之间的接触点转换为复杂的轨迹。系统的运动方向可以通过致动元件的激励频率来控制。开发和研究模型以描述机器人的重要运动效果。此外，提出了一些实验结果。

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来源
《Micromechanics and microactuators》|2010年|1-10ⅸ-xi|共13页
会议地点 Aachen(DE)
作者
F. Becker; V. Minchenya; K. Zimmermann; I. Zeidis;
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作者单位

Department of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany;

Department of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany;

Department of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany;

Department of Mechanical Engineering, Ilmenau University of Technology, Ilmenau, Germany;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Micro robot; Piezoelectric actuator; Vibration of continua; Elastodynamic locomotion;

机译：微型机器人压电执行器；连续振动；弹力运动;

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4. Single Piezo Actuator Driven Micro Robot for 2-Dimensional Locomotion [C] . F. Becker, V. Minchenya, K. Zimmermann, Workshop on Micromechanics and Microactuators . 2012

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Single Piezo Actuator Driven Micro Robot for 2-Dimensional Locomotion

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