Piezo-driven Micro Robots for Different Environments: Prototypes and Experiments

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 5Sprache: EnglischTyp: PDF

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Becker, Felix; Zimmermann, Klaus (Ilmenau University of Technology, Faculty of Mechanical Engineering, PF 100565, 98684, Ilmenau, Germany)
Minchenya, Vladimir T. (Belarusian National Technical University, Minsk, Belarus)
Volkova, Tatiana (Lomonosov Moscow State University, Moscow, Russia)

We report recent efforts in the design and construction of micro robots for the two-dimensional locomotion in different environments. Amphibious robots are presented, which can perform locomotion on smooth terrain as well as on the free surface of liquids. The working principle of this kind of robots deploys forced vibration of continua, which are excited by a single piezoelectric actuator with frequencies in range of 0.1 – 100 kHz. The direction of motion can be controlled by the excitation frequency of the actuation element using resonance effects. A computational model and simulations are given to describe this dependency. The design and motion principle of prototypes are described and experimental results are given. Furthermore, the maximum mass of an amphibious robot is calculated for a set of parameters.