Title :
Piezo ceramic based locomotive drive
Author :
Daugela, Antanas ; Fujii, Hiroshi ; Jeronymo, Carlos E. ; Misaki, Akitsugu
Author_Institution :
Dept. of Mech. Eng., Gifu Univ., Japan
Abstract :
A milli size piezo ceramic based locomotive drive has been developed. The principle of locomotion is based on the execution of resonance vibrations in a set of induced strain actuators-transducers which ends with the end effectors. Motion is transferred from the induced strain actuators to the end effectors by increasing the amplitude of the vibrations. Control is performed by switching the different active zones at the piezo active induced strain actuators. A modelling in FEs is performed in order to obtain resonance frequencies, modal shapes and deflections of the end effectors
Keywords :
finite element analysis; intelligent actuators; intelligent control; legged locomotion; microactuators; micromechanical resonators; micromotors; mobile robots; piezoceramics; piezoelectric actuators; piezoelectric motors; robot kinematics; FEM modelling; active zones; autonomous robot; deflections; end effectors; induced strain actuators-transducers; locomotive drive; microrobotics; milli size; modal shapes; open kinematic pairs; piezoactuator; piezoceramic based; radiating spoked legs; resonance frequencies; resonance vibrations; spider concept; vibrating frame design; Actuators; Capacitive sensors; Ceramics; End effectors; Kinematics; Resonance; Resonant frequency; Robots; Shape; Vibrations;
Conference_Titel :
Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2676-8
DOI :
10.1109/MHS.1995.494236
