Piezo ceramic based locomotive drive

Author

Daugela, Antanas ; Fujii, Hiroshi ; Jeronymo, Carlos E. ; Misaki, Akitsugu

Author_Institution

Dept. of Mech. Eng., Gifu Univ., Japan

fYear

1995

fDate

4-6 Oct 1995

Firstpage

187

Lastpage

192

Abstract

A milli size piezo ceramic based locomotive drive has been developed. The principle of locomotion is based on the execution of resonance vibrations in a set of induced strain actuators-transducers which ends with the end effectors. Motion is transferred from the induced strain actuators to the end effectors by increasing the amplitude of the vibrations. Control is performed by switching the different active zones at the piezo active induced strain actuators. A modelling in FEs is performed in order to obtain resonance frequencies, modal shapes and deflections of the end effectors

Keywords

finite element analysis; intelligent actuators; intelligent control; legged locomotion; microactuators; micromechanical resonators; micromotors; mobile robots; piezoceramics; piezoelectric actuators; piezoelectric motors; robot kinematics; FEM modelling; active zones; autonomous robot; deflections; end effectors; induced strain actuators-transducers; locomotive drive; microrobotics; milli size; modal shapes; open kinematic pairs; piezoactuator; piezoceramic based; radiating spoked legs; resonance frequencies; resonance vibrations; spider concept; vibrating frame design; Actuators; Capacitive sensors; Ceramics; End effectors; Kinematics; Resonance; Resonant frequency; Robots; Shape; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-2676-8

Type

conf

DOI

10.1109/MHS.1995.494236

Filename

494236