Design of Small Scale Ambulatory Robots Using Piezoelectric Bender

Abstract:
In recent years, miniaturized robots have been developed for the purpose of special activities in areas where human is not physically accessible. Among small-sized robots, the biomimetic robot that imitates animals and insects became issues. In this paper, new types of piezoelectric actuators were proposed using different driving mechanism according to the application field of a small scale ambulatory robot. The dynamic model can also be used as a design guide for modeling of other segmented robots and inspire research and modeling of actual myriapods and other species with segmented or compliant bodies. Three types of actuators which were named by their shapes as I, π & T-shape actuators for small scale ambulatory robot were proposed regarding applications for the different terrain conditions. Optimization of the piezoelectric bender for these actuators was also done. From the T-shape robot, wide range of speeds (From 2mm/sec. up to 255mm/sec.) and ability of transportation (up to 10g with 50mm/s) were proved through driving experiment.