压电谐振驱动三足机器人的平面运动

设计并实现了一类利用压电陶瓷片作动,由三条曲梁足支撑的振动驱动机器人.建立了在一条足共振驱动下机器人水平运动的动力学方程,数值计算解释了摩擦作用下的运动机理,寻找到异性摩擦对运动方向、速度的影响和压电激励频率与运动速度间的关系.通过建立圆弧曲梁控制方程求解圆弧型足面内振动的固有频率及振型,设计了三组不同频率的圆弧曲梁足参数,实验制作了机器人模型,利用压电控制三足间振动的共振切换,实现了预想的三个方向的运动以达到平面运动的效果,实验测量了机器人的运动速度与理论计算吻合得较好.

Locomotion of three-legged vibration driven robot using piezoelectric actuator

A three legged resonant vibration driven robot using piezoelectric actuator is presented in this paper. The dynamical equations of the horizontal locomotion is established as one of the three legs vibrating in resonant condition. Numerical results illustrates the motion mechanism and the effect of anisotropic friction on direction and velocity of the robot. The approximate relationship between the frequency of piezoelectric actuator and the velocity of locomotion is obtained. The governing equation of in plane vibration for a curved beam is developed to calculate the natural frequencies and the corresponding mode shapes. Based on this equation, three sets of geometrical parameters for the curved legs are devised. It is found that their frequencies are respectively different. The robot prototype is also created according to these parameters. The planar locomotion is accomplished through robot testing by switching the frequencies of alternating voltage applied on piezoelectric actuator to the shift resonant among the legs. Experimental results reasonably match with the numerical simulation.