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Open AccessArticle

A Quadruped Micro-Robot Based on Piezoelectric Driving

School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
Author to whom correspondence should be addressed.
Sensors 2018, 18(3), 810;
Received: 3 February 2018 / Revised: 25 February 2018 / Accepted: 5 March 2018 / Published: 7 March 2018
(This article belongs to the Special Issue Piezoelectric Micro- and Nano-Devices)
Inspired by a way of rowing, a new piezoelectric driving quadruped micro-robot operating in bending-bending hybrid vibration modes was proposed and tested in this work. The robot consisted of a steel base, four steel connecting pins and four similar driving legs, and all legs were bonded by four piezoelectric ceramic plates. The driving principle is discussed, which is based on the hybrid of first order vertical bending and first order horizontal bending vibrations. The bending-bending hybrid vibration modes motivated the driving foot to form an elliptical trajectory in space. The vibrations of four legs were used to provide the driving forces for robot motion. The proposed robot was fabricated and tested according to driving principle. The vibration characteristics and elliptical movements of the driving feet were simulated by FEM method. Experimental tests of vibration characteristics and mechanical output abilities were carried out. The tested resonance frequencies and vibration amplitudes agreed well with the FEM calculated results. The size of robot is 36 mm × 98 mm × 14 mm, its weight is only 49.8 g, but its maximum load capacity achieves 200 g. Furthermore, the robot can achieve a maximum speed of 33.45 mm/s. View Full-Text
Keywords: legged robot; resonant vibration; miniaturization; bending-bending modes legged robot; resonant vibration; miniaturization; bending-bending modes
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Su, Q.; Quan, Q.; Deng, J.; Yu, H. A Quadruped Micro-Robot Based on Piezoelectric Driving. Sensors 2018, 18, 810.

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