{"title":"Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle","authors":"Ying Li, Chaofeng Li, Zhiwei Wu, Binbin Zhu, Jinghu Tang","doi":"10.1007/s42235-025-00663-2","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, inspired by the running motion gait of a cheetah, an H-shaped bionic piezoelectric robot (H-BPR) based on the standing wave principle is proposed and designed. The piezoelectric robot realizes linear motion, turning motion, and turning motion with different radii by the voltage differential driving method. A prototype with a weight of 38 g and dimensions of 150 × 80 × 31 mm<sup>3</sup> was fabricated. Firstly, the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg. The motion principle of the piezoelectric robot was analyzed, and then the piezoelectric robot’s modal analysis and harmonic response analysis were carried out using finite element analysis software. Finally, an experimental setup was built to verify the effectiveness and high efficiency of the robot’s motion, and the effects of frequency, voltage, load, and height of the driving leg on the robot’s motion performance were discussed. The performance test results show that the piezoelectric robot has a maximum velocity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g. In addition, the H-BPR with unequal drive legs has better climbing performance, and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.</p><h3>Graphical Abstract</h3><div><figure><div><div><picture><img></picture></div></div></figure></div></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"608 - 625"},"PeriodicalIF":4.9000,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Bionic Engineering","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1007/s42235-025-00663-2","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, inspired by the running motion gait of a cheetah, an H-shaped bionic piezoelectric robot (H-BPR) based on the standing wave principle is proposed and designed. The piezoelectric robot realizes linear motion, turning motion, and turning motion with different radii by the voltage differential driving method. A prototype with a weight of 38 g and dimensions of 150 × 80 × 31 mm3 was fabricated. Firstly, the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg. The motion principle of the piezoelectric robot was analyzed, and then the piezoelectric robot’s modal analysis and harmonic response analysis were carried out using finite element analysis software. Finally, an experimental setup was built to verify the effectiveness and high efficiency of the robot’s motion, and the effects of frequency, voltage, load, and height of the driving leg on the robot’s motion performance were discussed. The performance test results show that the piezoelectric robot has a maximum velocity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g. In addition, the H-BPR with unequal drive legs has better climbing performance, and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.
期刊介绍：
The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to:
Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion.
Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials.
Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices.
Development of bioinspired computation methods and artificial intelligence for engineering applications.
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