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Miniature Piezoelectric Mobile Robot driven
by Standing Wave
Hassan Hussein Hariri, Gim Song Soh, Shaohui Foong, Kevin Ott...
Copyright Hassan Hussein Hariri 2015
Overview
๏ถ Fundamental Principle of Standing Wave
Ultrasonic Linear Motor
๏ถ Robot Str...
Copyright Hassan Hussein Hariri 2015
Fundamental Principle of Standing
Wave Ultrasonic Linear Motor
3
Vibrating beam
Slide...
Copyright Hassan Hussein Hariri 2015
Fundamental Principle of Standing
Wave Ultrasonic Linear Motor
4
Slider
Moving direct...
Copyright Hassan Hussein Hariri 2015
Robot Structure
๏ถ Piezoelectric unimorph actuator with rigidly
attached legs
5
Piezoe...
Copyright Hassan Hussein Hariri 2015
Locomotion principle
6
Vibrating beam
Substrate
Vibrating beam
Substrate
Moving direc...
Copyright Hassan Hussein Hariri 2015
Locomotion principle
7
Vibrating beam
Substrate
Vibrating beam
Substrate
Moving direc...
Copyright Hassan Hussein Hariri 2015
Locomotion principle
8
๏ถ Locomotion principle for one leg during one
cycle of motion
Copyright Hassan Hussein Hariri 2015
Legs positions for the robot at ๐‘“1 & ๐‘“3
9
Copyright Hassan Hussein Hariri 2015
Modeling of the piezoelectric unimorph
actuator
๏ถ Geometric parameters
10
Electric fi...
Copyright Hassan Hussein Hariri 2015
Modeling of the piezoelectric unimorph
actuator
๏ถ Kinematics of the deformation
11
Copyright Hassan Hussein Hariri 2015
Modeling of the piezoelectric unimorph
actuator
๏ถ The dynamic equation of motion
12
(...
Copyright Hassan Hussein Hariri 2015
Modeling of the piezoelectric unimorph
actuator
๏ถ Resonance frequencies and mode shap...
Copyright Hassan Hussein Hariri 2015
Design
๏ถ NCE53, soft PZT from Noliac Inc.
๏ถ Aluminum
๏ถ Both the PZT and Aluminum have...
Copyright Hassan Hussein Hariri 2015
Design
๏ถ Legs positions for the robot at ๐‘“1 = 2.41 kHz &
๐‘“3 = 12.77 kHz (using eq. 9 ...
Copyright Hassan Hussein Hariri 2015
Fabrication
๏ถ Legs positions on the aluminium beam
16
Copyright Hassan Hussein Hariri 2015
Fabrication
๏ถ Prototype of the piezoelectric robot with an
embedded mass
17
Copyright Hassan Hussein Hariri 2015
Experiments
๏ถ ๐‘“1 = 2.41 kHz (analytically) & ๐‘“1 = 2.6 kHz (Experimentally)
18
Copyright Hassan Hussein Hariri 2015
Experiments
๏ถ ๐‘“3 = 12.77 kHz (analytically) & ๐‘“1 = 12.7 kHz (Experimentally)
19
Copyright Hassan Hussein Hariri 2015
Experiments
๏ถ Slow motion at ๐‘“1 with high speed motion capture system
20
Copyright Hassan Hussein Hariri 2015
Experiments
๏ถ Speed versus applied voltage on acrylic substrate
21
Copyright Hassan Hussein Hariri 2015
Conclusion & future work
๏ถ Conclusion
โ€“ Inspired from linear ultrasonic motor, the op...
QUESTIONS?
23
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Miniature Piezoelectric Mobile Robot driven by Standing Wave

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14th World Congress in Mechanism and Machine Science, Taipei, Taiwan,
25-30 October, 2015

Published in: Engineering
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Miniature Piezoelectric Mobile Robot driven by Standing Wave

  1. 1. Miniature Piezoelectric Mobile Robot driven by Standing Wave Hassan Hussein Hariri, Gim Song Soh, Shaohui Foong, Kevin Otto, Kristin Wood hassan_hariri@sutd.edu.sg 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015
  2. 2. Copyright Hassan Hussein Hariri 2015 Overview ๏ถ Fundamental Principle of Standing Wave Ultrasonic Linear Motor ๏ถ Robot Structure ๏ถ Locomotion principle ๏ถ Legs positions for the robot at ๐‘“1 & ๐‘“3 ๏ถ Modeling of the piezoelectric unimorph actuator ๏ถ Design ๏ถ Fabrication ๏ถ Experiments ๏ถ Conclusion & future work 2
  3. 3. Copyright Hassan Hussein Hariri 2015 Fundamental Principle of Standing Wave Ultrasonic Linear Motor 3 Vibrating beam Slider Moving direction
  4. 4. Copyright Hassan Hussein Hariri 2015 Fundamental Principle of Standing Wave Ultrasonic Linear Motor 4 Slider Moving direction Vibrating beam
  5. 5. Copyright Hassan Hussein Hariri 2015 Robot Structure ๏ถ Piezoelectric unimorph actuator with rigidly attached legs 5 Piezoelectric beam Elastic beam Rigid Legs
  6. 6. Copyright Hassan Hussein Hariri 2015 Locomotion principle 6 Vibrating beam Substrate Vibrating beam Substrate Moving direction Moving direction
  7. 7. Copyright Hassan Hussein Hariri 2015 Locomotion principle 7 Vibrating beam Substrate Vibrating beam Substrate Moving direction Moving direction Substrate
  8. 8. Copyright Hassan Hussein Hariri 2015 Locomotion principle 8 ๏ถ Locomotion principle for one leg during one cycle of motion
  9. 9. Copyright Hassan Hussein Hariri 2015 Legs positions for the robot at ๐‘“1 & ๐‘“3 9
  10. 10. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator ๏ถ Geometric parameters 10 Electric field ๐’™ ๐’š ๐’› ๐’ ๐’• ๐’Ž ๐’• ๐’‘ Piezoelectric beam Elastic beam Poling ๐’ƒ
  11. 11. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator ๏ถ Kinematics of the deformation 11
  12. 12. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator ๏ถ The dynamic equation of motion 12 (1) (2) (3) (4) (5)
  13. 13. Copyright Hassan Hussein Hariri 2015 Modeling of the piezoelectric unimorph actuator ๏ถ Resonance frequencies and mode shapes (using eq. 1) 13 (6) (7) (8) (9) (10) (11) (12)
  14. 14. Copyright Hassan Hussein Hariri 2015 Design ๏ถ NCE53, soft PZT from Noliac Inc. ๏ถ Aluminum ๏ถ Both the PZT and Aluminum have similar dimensions except for thickness 14
  15. 15. Copyright Hassan Hussein Hariri 2015 Design ๏ถ Legs positions for the robot at ๐‘“1 = 2.41 kHz & ๐‘“3 = 12.77 kHz (using eq. 9 & eq. 10) 15
  16. 16. Copyright Hassan Hussein Hariri 2015 Fabrication ๏ถ Legs positions on the aluminium beam 16
  17. 17. Copyright Hassan Hussein Hariri 2015 Fabrication ๏ถ Prototype of the piezoelectric robot with an embedded mass 17
  18. 18. Copyright Hassan Hussein Hariri 2015 Experiments ๏ถ ๐‘“1 = 2.41 kHz (analytically) & ๐‘“1 = 2.6 kHz (Experimentally) 18
  19. 19. Copyright Hassan Hussein Hariri 2015 Experiments ๏ถ ๐‘“3 = 12.77 kHz (analytically) & ๐‘“1 = 12.7 kHz (Experimentally) 19
  20. 20. Copyright Hassan Hussein Hariri 2015 Experiments ๏ถ Slow motion at ๐‘“1 with high speed motion capture system 20
  21. 21. Copyright Hassan Hussein Hariri 2015 Experiments ๏ถ Speed versus applied voltage on acrylic substrate 21
  22. 22. Copyright Hassan Hussein Hariri 2015 Conclusion & future work ๏ถ Conclusion โ€“ Inspired from linear ultrasonic motor, the operation principle for miniature piezoelectric mobile robot is explained โ€“ A model for unimorph piezoelectric actuator is developed โ€“ A prototype for the robot is made and experimental verifications are done ๏ถ Future work โ€“ Improve the design to avoid curved motion and keep it straight in both directions โ€“ Show an onbord electronics for the robot 22
  23. 23. QUESTIONS? 23

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