In this paper, the previously studied resonance piezoelectric benders are
improved as an off-resonance piezoelectric bender, and three types of
small piezoelectric robots and a dedicated driving driver are proposed
and verified. The proposed piezoelectric robots are designed to be used
in various fields as disaster scene, military and industrial fields as a
small robot. The key components of the proposed small robot are the
piezoelectric bender, the piezoelectric actuator and the piezoelectric robot.
The piezoelectric bender is a key driving source of the small robot and
is the most basic component. The piezoelectric actuators are components
which generate elliptical displacement motion through mechanical
coupling of piezoelectric benders that generate one-dimensional vibration
motions. By combining these piezoelectric actuators with the body, it is
possible to realize a piezoelectric robot having four or more walking
patterns. In order to realize the proposed miniature robot, basic design,
finite element analysis, fabrication and experiment process are required.
Finite element analysis is used to verify the driving characteristics of the piezoelectric bender and actuator. FEA simulation is performed based
on the off-resonance frequency band of 1〜100 [Hz], and the piezoelectric
bender for the maximum energy efficiency of the small robot is
designed. The optimum conditions of the piezoelectric bender for the
displacement, the maximum force, the mechanical energy, and the
mechanical energy according to the mass are obtained. The piezoelectric
bender is designed optimally by applying carbon fiber, elastic body and
width ratio (10:3) [mm], length 30 [mm], thickness ratio (0.2: 0.2) [mm].
Based on the analysis results, the bimorph type piezoelectric benders
are fabricated and implemented on the three proposed models (Integrated
T, Scull-type, and Wave-type actuators) and also on the previously
studied T-type actuator. The output characteristics of the four robots are
verified by measuring the speed and the maximum force depending on
the slope, and the friction surface (based on 90[Vrms]).
The T-type robot shows a maximum speed of 191[mm/s] at 40[Hz],
and the Scull-type robot shows 25[g] - 12[mm/s]. The IT-type robot
shows the output characteristics of 18[°] - 13[mm/s] and P80 -
31[mm/s] at the inclination angle and the friction surface, respectively.
The Wave-type robot can be driven without problems even if the
structure of the leg tip is turned upside down as designed.
Finally, design and fabrication of piezoelectric exclusive use driver for
miniaturization of robot is carried out. The driver consists of
ATmega128, single phase full-bridge inverter, gate driver, converter and
LC-filter. Experiments are carried out using the fabricated driver, and it
is confirmed that a similar tendency to the existing driving equipment.
In this paper, the previously studied resonance piezoelectric benders are
improved as an off-resonance piezoelectric bender, and three types of
small piezoelectric robots and a dedicated driving driver are proposed
and verified. The proposed piezoelectric robots are designed to be used
in various fields as disaster scene, military and industrial fields as a
small robot. The key components of the proposed small robot are the
piezoelectric bender, the piezoelectric actuator and the piezoelectric robot.
The piezoelectric bender is a key driving source of the small robot and
is the most basic component. The piezoelectric actuators are components
which generate elliptical displacement motion through mechanical
coupling of piezoelectric benders that generate one-dimensional vibration
motions. By combining these piezoelectric actuators with the body, it is
possible to realize a piezoelectric robot having four or more walking
patterns. In order to realize the proposed miniature robot, basic design,
finite element analysis, fabrication and experiment process are required.
Finite element analysis is used to verify the driving characteristics of the piezoelectric bender and actuator. FEA simulation is performed based
on the off-resonance frequency band of 1〜100 [Hz], and the piezoelectric
bender for the maximum energy efficiency of the small robot is
designed. The optimum conditions of the piezoelectric bender for the
displacement, the maximum force, the mechanical energy, and the
mechanical energy according to the mass are obtained. The piezoelectric
bender is designed optimally by applying carbon fiber, elastic body and
width ratio (10:3) [mm], length 30 [mm], thickness ratio (0.2: 0.2) [mm].
Based on the analysis results, the bimorph type piezoelectric benders
are fabricated and implemented on the three proposed models (Integrated
T, Scull-type, and Wave-type actuators) and also on the previously
studied T-type actuator. The output characteristics of the four robots are
verified by measuring the speed and the maximum force depending on
the slope, and the friction surface (based on 90[Vrms]).
The T-type robot shows a maximum speed of 191[mm/s] at 40[Hz],
and the Scull-type robot shows 25[g] - 12[mm/s]. The IT-type robot
shows the output characteristics of 18[°] - 13[mm/s] and P80 -
31[mm/s] at the inclination angle and the friction surface, respectively.
The Wave-type robot can be driven without problems even if the
structure of the leg tip is turned upside down as designed.
Finally, design and fabrication of piezoelectric exclusive use driver for
miniaturization of robot is carried out. The driver consists of
ATmega128, single phase full-bridge inverter, gate driver, converter and
LC-filter. Experiments are carried out using the fabricated driver, and it
is confirmed that a similar tendency to the existing driving equipment.
주제어
#Piezoelectric bender Piezoelectric actuator Piezoelectric robot Finite element analysis off-resonance mode Piezoelectric driver small robot
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