Theoretical and Experimental Investigations into a Crawling Robot Propelled by Piezoelectric Material
Abstract
:1. Introduction
2. Modelling and Theoretical Analysis
2.1. Modelling
2.2. Theoretical Analysis
3. Experimental Analysis and Discussion
3.1. Experimental Analysis
3.1.1. The Influence of the Microstructure on Feet
3.1.2. The Influence of the Structural Parameters
3.1.3. The Influence of the Powering
3.2. Discussion
4. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Powering Material | Size (mm × mm × mm) | Velocity (mm/s) | Stimulation |
---|---|---|---|
Piezoelectric [5] | 100.6 × 74.6 × 7 | 1641 | 100 V 41.35 kHz |
Pneumatic [6] | 164 × 25 × 25 | 6 | 30 kPa |
EPA [7] | 250 × 8 × - | 1 | 4 kV |
Laser [8] | 30 × 20 × 10 | 0.032 | 60 °C |
SMA [9] | 10 × - × - | 0.2 | 15 W |
Piezoelectric (in this article) | 202 × 20 × 30 | 178.68 | 120 V 240 Hz |
Parameters | Company | Density | Short Circuit Elastic Stiffness Coefficient | Piezoelectric Stress Constant | Clamping voltage Constant |
---|---|---|---|---|---|
Value | Harbin Rongzhi Naxin Technology Co., Ltd. | 7800 kg/m3 | 131.1 Gpa | −5.2 C/m | 5.63 × 10−9 F/m |
Parameters | Value |
---|---|
Piezoelectric Ceramic(length × width × height) | 60 × 20 × 0.2 (mm × mm × mm) |
3D-printed body(width × height) | 20 × 0.2 (mm × mm) |
L: Length of the horizontal beam | 100 (mm) |
L1: Length of the inclined legs | 40/50/60/70 (mm) |
θ: Angle of the inclined legs | 30/45/60/75 (°) |
Spike angle | 30/40/50/60 (°) |
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Zeng, X.; Wu, Y.; Han, S.; Liu, Y.; Xiu, H.; Tian, F.; Ren, L. Theoretical and Experimental Investigations into a Crawling Robot Propelled by Piezoelectric Material. Micromachines 2021, 12, 1577. https://doi.org/10.3390/mi12121577
Zeng X, Wu Y, Han S, Liu Y, Xiu H, Tian F, Ren L. Theoretical and Experimental Investigations into a Crawling Robot Propelled by Piezoelectric Material. Micromachines. 2021; 12(12):1577. https://doi.org/10.3390/mi12121577
Chicago/Turabian StyleZeng, Xiangli, Yue Wu, Shangyan Han, Yanbo Liu, Haohua Xiu, Fengjun Tian, and Luquan Ren. 2021. "Theoretical and Experimental Investigations into a Crawling Robot Propelled by Piezoelectric Material" Micromachines 12, no. 12: 1577. https://doi.org/10.3390/mi12121577