DocumentCode :
631845
Title :
Crawling-inspired robot utilizing L-shape piezoelectric actuators
Author :
Avirovik, D. ; Priya, S.
Author_Institution :
Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
fYear :
2013
fDate :
9-12 July 2013
Firstpage :
894
Lastpage :
899
Abstract :
L-Shape piezoelectric actuators are known to be advantageous due to their simple design, cost-effectiveness, mass-manufacturability, and high torque. In this study, we have utilized the L-shaped piezoelectric actuator to develop a crawling robot, that can potentially find use in the surgical tools, defense and security sector. The robot comprises of four legs represented by four L-shape piezoelectric motors moving at a specific gait. Based on the experiments conducted, the robot was able to carry twice its weight by attaching load to its body and monitoring its locomotion characteristics, achieve speeds of up to 65mm/s. The size of the robot was 22mm × 35mm × 30mm with mass of 11.6 grams and power input of 8mW.
Keywords :
mobile robots; piezoelectric actuators; L-shape piezoelectric actuators; crawling-inspired robot; power 8 mW; surgical tools; Actuators; Electromagnetics; Telemetry;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Conference_Location :
Wollongong, NSW
ISSN :
2159-6247
Print_ISBN :
978-1-4673-5319-9
Type :
conf
DOI :
10.1109/AIM.2013.6584207
Filename :
6584207
Link To Document :
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