Miniature Resonant Ambulatory Robot
Shannon A. Rios, Andrew J. Fleming, Yuen Kuan Yong
Abstract
This article describes the design, manufacture, and performance of a prototype miniature resonant ambulatory robot that uses piezoelectric actuators to achieve locomotion. Each leg is comprised of two piezoelectric bimorph benders, joined at the tip by a flexure and end effector. Combinations of amplitude and phase can be used to produce a wide range of motions including swinging and lifting. A lumped mass model previously developed is described as a design tool to tune the resonance modes of the end effector. The completed robot was driven with frequencies up to 500 Hz resulting in a maximum forward velocity of approximately 520 mm/s at 350 Hz. A frequency analysis was also performed to determine the effects of ground contact on the performance of the robot. This analysis showed a significant reduction in the resonance gain and frequency.
BibTeX
@inproceedings{ral2017_miniatureresonan,
title = {Miniature Resonant Ambulatory Robot},
author = {Shannon A. Rios and Andrew J. Fleming and Yuen Kuan Yong},
booktitle = {RA-L 2017},
year = {2017}
}