Tripod-Type Piezoelectric Traveling Mechanism for Miniature Robot

Abstract:

A new piezoelectric in-plane traveling mechanism of miniature robot was proposed. It seems like a small tripod-type device and runs on stick-slip principle. There were three actuators acted as feet in the traveling mechanism. They were driven separately and controlled through a microcontroller unit to realize varied motion. Theoretically, the mechanism could revolve around any axis and translate along any direction under the appropriate control manner. Therefore, it was desired to serve as locomotive units for miniature robot, which perform various precise positioning tasks such as micromachining, micro-assembly etc.

• Periodical: Applied Mechanics and Materials (Volumes 101-102)
• Pages: 164-168
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.101-102.164
• Online since: September 2011
• Authors: Shun Ming Hua, Yi Qiang Wang, Xiao Jun Wang, Guang Ming Cheng
• Keywords: Miniature Robot, Piezoelectric Bimorph, Stick Slip Effect, Traveling Mechanism

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