Title :
Design of a two degree of freedom resonant miniature robotic leg
Author :
Rios, Shannon A. ; Fleming, Andrew J. ; Yuen Kuan Yong
Author_Institution :
Precision Mechatron. Lab., Univ. of Newcastle, Callaghan, NSW, Australia
Abstract :
This article identifies the design considerations for a two degree of freedom (DoF) miniature robotic leg utilizing piezoelectric bimorph actuators with a specific focus on the resonance modes of the system. An analytical model was developed using three independent lumped mass models with superposition for tuning the resonance frequencies and optimizing the performance of the leg. The model was verified both experimentally and using finite element analysis (FEA).
Keywords :
finite element analysis; legged locomotion; piezoelectric actuators; DoF miniature robotic leg; FEA; finite element analysis; leg performance optimization; lumped mass model; piezoelectric bimorph actuators; resonance frequency; system resonance mode; two degree-of-freedom resonant miniature robotic leg; Actuators; End effectors; Legged locomotion; Mathematical model; Resonant frequency; Robot sensing systems;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
Conference_Location :
Busan
DOI :
10.1109/AIM.2015.7222551
