Motion of a Legged Bidirectional Miniature Piezoelectric Robot Based on Traveling Wave Generation.

ABSTRACT: This article reports on the locomotion performance of a miniature robot that features 3D-printed rigid legs driven by linear traveling waves (TWs). The robot structure was a millimeter-sized rectangular glass plate with two piezoelectric patches attached, which allowed for traveling wave generation at a frequency between the resonant frequencies of two contiguous flexural modes. As a first goal, the location and size of the piezoelectric patches were calculated to maximize the structural displacement while preserving a standing wave ratio close to 1 (cancellation of wave reflections from the boundaries). The design guidelines were supported by an analytical 1D model of the structure and could be related to the second derivative of the modal shapes without the need to rely on more complex n

SUBMITTER: Hernando-Garcia J 

PROVIDER: S-EPMC7142472 | biostudies-literature | 2020 Mar

REPOSITORIES: biostudies-literature