Miniature Autonomous Robot Based on Legged In-Plane Piezoelectric Resonators with Onboard Power and Control.

ABSTRACT: This work reports the design, fabrication, and characterization of a centimetre-scale autonomous robot with locomotion based on in-plane piezoelectric resonators and 3D-printed inclined legs. The robot consists of a pair of cooperative piezoelectric motors, an electronic power circuit and a battery-powered microcontroller. The piezoelectric motors feature a lead zirconate titanate (PZT) plate of dimensions 20 mm × 3 mm × 0.2 mm vibrating on its first extensional resonant mode at around 70 kHz. A particular position of 3D-printed inclined legs allowed the conversion of the in-plane movement into an effective forward thrust. To enable arbitrary trajectories of the robot on a surface, two parallel piezoelectric plate motors were arranged in a differential drive scheme. The signals to excite t

SUBMITTER: Robles-Cuenca D 

PROVIDER: S-EPMC9692952 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature