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Research Papers

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

[+] Author and Article Information
Audelia G. Dharmawan

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

Hassan H. Hariri

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

Gim Song Soh

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

Shaohui Foong

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

Kristin L. Wood

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

1Corresponding author.

Manuscript received September 14, 2017; final manuscript received December 4, 2017; published online February 1, 2018. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 10(2), 021003 (Feb 01, 2018) (8 pages) Paper No: JMR-17-1295; doi: 10.1115/1.4038970 History: Received September 14, 2017; Revised December 04, 2017

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 modeling 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 a autonomous robot locomotion, which will be part of future work.

Copyright © 2018 by ASME
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References

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Figures

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Fig. 1

3D model of the proposed piezoeelectric robot

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Fig. 2

Locomotion principle of the piezoelectric robot

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Fig. 3

The pseudo-rigid-body model of the unimorph actuator OA, constrained by an RR chain CB, to form a four-bar linkage

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Fig. 4

Geometric parameters of the piezoelectric unimorph actuator

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Fig. 5

Angular displacement approximation of the actuator deflection

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Fig. 6

Gait cycle model of the piezoelectric robot

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Fig. 7

Kinematic model of the robot's leg

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Fig. 8

Frames assignment for the robot's body and legs

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Fig. 9

Prototype of the fabricated miniature piezoelectric robot

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Fig. 10

Image sequence of the piezoelectric robot in one of the trials

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Fig. 11

Plot of the robot's speed versus applied frequency on a flat surface

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Fig. 12

Plot of the robot's average speed versus applied voltage on a flat surface

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Fig. 13

Plot of the robot's velocity versus payload on a flat surface

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Fig. 14

Plot of the robot's velocity versus dragged force

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Fig. 15

Robot tested on different surfaces

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Fig. 16

Concept of the future multi-degrees-of-freedom robot

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