Motion of a miniature robot driven by rapid deformation of piezoelectric element

MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717) Pub Date : 2003-12-08 DOI:10.1109/MHS.2003.1249962

Y. Fukaya, A. Torii, K. Doki, A. Ueda

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Abstract

Many miniature robots with various types of actuators have been developed. In this paper, a motion of a miniature robot driven by rapid deformation of piezoelectric elements is described. This miniature robot consists of a stainless frame and three piezoelectric elements. One piezoelectric element expands and another is contracted rapidly and simultaneously. First the linear displacement of the miniature robot is described. We measured the linear displacement of the miniature robot. The robot moves forward and the linear displacement in one control cycle is 2.99 /spl mu/m. Then, the rotational displacement of the robot is also described. We repeated the rotational displacement measurement on a lot of different places on a flat glass surface. The result obtained by the same input signals and different positions of the robot are different from each other. One of our results indicates that the rotational displacement is 15.6 /spl mu/rad in CW direction and 8.8 /spl mu/rad in CCW direction when the extension of piezoelectric elements is 3 /spl mu/m.

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压电元件快速变形驱动的微型机器人运动

许多具有各种类型执行器的微型机器人已经被开发出来。本文描述了一种由压电元件快速变形驱动的微型机器人的运动。这个微型机器人由一个不锈钢框架和三个压电元件组成。一个压电元件迅速膨胀，另一个迅速收缩。首先描述了微型机器人的线性位移。我们测量了微型机器人的线性位移。机器人向前运动，一个控制周期的线性位移为2.99 /spl mu/m。然后，对机器人的旋转位移进行了描述。我们在一个平面玻璃表面的许多不同的地方重复旋转位移测量。相同的输入信号和不同的机器人位置所得到的结果是不同的。结果表明，当压电元件的延伸量为3 /spl mu/m时，连续方向的旋转位移为15.6 /spl mu/rad，连续方向的旋转位移为8.8 /spl mu/rad。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717)

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