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Design and realization of piezoelectric
mobiles for cooperative use (piezoelectric
mini-robots)
Dr. Hassan Hariri
Pr. Yves...
Copyright Hassan Hariri 2016
Introduction
 Inspired by the stingray fish, we think that a
locomotion in various environme...
Copyright Hassan Hariri 2016
Introduction
 A schematic of thin structure with piezoelectric
patches
3
Copyright Hassan Hariri 2016
A two dimensions modeling of non-
collocated piezoelectric patches
bonded on thin structure
4
Copyright Hassan Hariri 2016
 Under the assumption of linear elastic materials
and plane stress formulation, we can write...
Copyright Hassan Hariri 2016
 Under the assumption of linear elastic materials
and plane stress formulation, we can write...
Copyright Hassan Hariri 2016
 Applying Hamilton principle, we obtain the
variational equation that represents the
mechani...
Copyright Hassan Hariri 2016
 Numerically integrating the variational equation
over the entire volume of the system and t...
Copyright Hassan Hariri 2016
A Traveling Wave Piezoelectric Beam
Robot
 Geometric parameters, coordinate system, and
desc...
Copyright Hassan Hariri 2016
10
A Traveling Wave Piezoelectric Beam
Robot
vibrator–absorber:1ME
vibrator–vibrator:2ME
Copyright Hassan Hariri 2016
A Traveling Wave Piezoelectric Plate
Robot
 Still under publication
11
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
 The present invention relates to a piezoelectric
devic...
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
 Different configurations
13
3
3
3
3
2
1
4
4 4
4
0
+λ/4...
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
 Two Modes Excitation method (2ME)
14
0 +λ/4
0 +λ/4
2
3...
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
 One Mode Excitation method (1ME)
15
2
3
3
3
34
4
5
51
...
Copyright Hassan Hariri 2016
References
 [1] http://animals.desktopnexus.com/wallpaper/209676/
 [2] http://picinpic.blog...
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Design and realization of piezoelectric mobiles for cooperative use

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Design and realization of piezoelectric mobiles for cooperative use

  1. 1. Design and realization of piezoelectric mobiles for cooperative use (piezoelectric mini-robots) Dr. Hassan Hariri Pr. Yves Bernard & Pr. Adel Razek GeePs: Génie électrique et électronique de Paris http://www.geeps.centralesupelec.fr/ Email: haririhas@gmail.com
  2. 2. Copyright Hassan Hariri 2016 Introduction  Inspired by the stingray fish, we think that a locomotion in various environments (soil, air, liquid) using piezoelectric patches bonded on a thin structure is possible. 2
  3. 3. Copyright Hassan Hariri 2016 Introduction  A schematic of thin structure with piezoelectric patches 3
  4. 4. Copyright Hassan Hariri 2016 A two dimensions modeling of non- collocated piezoelectric patches bonded on thin structure 4
  5. 5. Copyright Hassan Hariri 2016  Under the assumption of linear elastic materials and plane stress formulation, we can write 5 A two dimensions modeling of non- collocated piezoelectric patches bonded on thin structure
  6. 6. Copyright Hassan Hariri 2016  Under the assumption of linear elastic materials and plane stress formulation, we can write 6 A two dimensions modeling of non- collocated piezoelectric patches bonded on thin structure
  7. 7. Copyright Hassan Hariri 2016  Applying Hamilton principle, we obtain the variational equation that represents the mechanical and piezoelectric system 7 A two dimensions modeling of non- collocated piezoelectric patches bonded on thin structure
  8. 8. Copyright Hassan Hariri 2016  Numerically integrating the variational equation over the entire volume of the system and taking the boundary conditions into account in the assembly of matrices, the numerical equation is then written taking into account the damping matrix as follows 8 A two dimensions modeling of non- collocated piezoelectric patches bonded on thin structure
  9. 9. Copyright Hassan Hariri 2016 A Traveling Wave Piezoelectric Beam Robot  Geometric parameters, coordinate system, and description of the neutral axis 9
  10. 10. Copyright Hassan Hariri 2016 10 A Traveling Wave Piezoelectric Beam Robot vibrator–absorber:1ME vibrator–vibrator:2ME
  11. 11. Copyright Hassan Hariri 2016 A Traveling Wave Piezoelectric Plate Robot  Still under publication 11
  12. 12. Copyright Hassan Hariri 2016 Mobile Piezoelectric Device (patent)  The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at least three unaligned piezoelectric transducers (3) attached onto a single surface of the plate (2), and a sinusoidal voltage generator (4) that generates sinusoidal voltage and is connected to at least one piezoelectric transducer (3) such as to generate a traveling wave in the flexible plate (2). The piezoelectric device (1) is characterized in that the flexible plate (2) supporting the at least three piezoelectric transducers (3) is mobile, the generated traveling wave being capable of moving the flexible plate (2) 12
  13. 13. Copyright Hassan Hariri 2016 Mobile Piezoelectric Device (patent)  Different configurations 13 3 3 3 3 2 1 4 4 4 4 0 +λ/4 2 33 0 3 1
  14. 14. Copyright Hassan Hariri 2016 Mobile Piezoelectric Device (patent)  Two Modes Excitation method (2ME) 14 0 +λ/4 0 +λ/4 2 3 3 33 x y 1 1 2 34 1 0 +λ/4 -λ/4 +λ/4 2 3 3 33 2 34 x y 0 +λ/4 0 -λ/4 2 3 3 33 1 2 34 x y
  15. 15. Copyright Hassan Hariri 2016 Mobile Piezoelectric Device (patent)  One Mode Excitation method (1ME) 15 2 3 3 3 34 4 5 51 51 52 521 2 34 2 3 3 3 3 4 4 51 52 52 51 1 2 34
  16. 16. Copyright Hassan Hariri 2016 References  [1] http://animals.desktopnexus.com/wallpaper/209676/  [2] http://picinpic.blogspot.fr/2011/07/manta-ray-fish.html  [3] H. Hariri, Y. Bernard, A. Razek, ‘’A two dimensions modeling of non-collocated piezoelectric patches bonded on thin structure’’, Journal of curved and layered structures, 2015.  [4] H. Hariri, Y. Bernard, A. Razek, ‘’ Finite element model of a beam structure with piezoelectric patches using RL shunt circuits’’, Proceedings of Adaptronic congress 2011, pp. 124-131.  [5] H. Hariri, Y. Bernard, A. Razek, ‘’Travelling wave piezoelectric beam robot’’, Journal of smart materials and structures, 2013, pp. 1- 9.  [6] H. Hariri, Y. Bernard, A. Razek, ‘’Dual piezoelectric beam robot: The effect of piezoelectric patches’ positions’’, Journal of Intelligent Material Systems and Structures, 2015.  [7] Yves Bernard, Hassan Hariri, Adel Razek. Mobile piezoelectric device. Patent n° : WO 2015/059283. 2015. http://www.google.com/patents/WO2015059283A1?cl=en 16

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