0
research-article

Design, Analysis, and Characterization of a Two-Legged Miniature Robot with Piezoelectric-Driven Four-Bar Linkage

[+] Author and Article Information
Audelia Gumarus Dharmawan

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
audelia@sutd.edu.sg

Hassan Hariri

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
hassan_hariri@sutd.edu.sg

Gim Song Soh

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
sohgimsong@sutd.edu.sg

Shaohui Foong

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
foongshaohui@sutd.edu.sg

Kristin Wood

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
kristinwood@sutd.edu.sg

1Corresponding author.

ASME doi:10.1115/1.4038970 History: Received September 14, 2017; Revised December 04, 2017

Abstract

This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages and its gait cycle is described. The robot's speed is derived through kinematic modelling and experimentally verified using a fabricated prototype. The robot prototype's performance in terms of its payload capability and nominal operating power is also characterized experimentally. These results will be important for developing a motion planning control strategy for an autonomous robot locomotion, which will be part of future work.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In