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Realisation d'un mini robot piézoélectrique aquatique et aerien

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matériaux piézoélectriques, mini robots aquatiques et aériens, conception mécatronique, stage master 2 et/ou école d'ingénieur, Laboratoire de Génie Électrique de Paris (LGEP)

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Realisation d'un mini robot piézoélectrique aquatique et aerien

  1. 1. LABORATOIRE DE GENIE ELECTRIQUE DE PARIS CNRS (UMR 8507) – Supelec – UPMC – Univ Paris Sud 11 11 rue Joliot Curie Plateau de Moulon 91192 Gif-sur-Yvette Cedex SUJET DU STAGE MASTER 2 RECHERCHE (to février 2012) REALISATION D’UN MINIROBOT PIEZOELECTRIQUE AQUATIQUE ET AERIENContexteCe stage s’inscrit dans le cadre d’une thèse au LGEP qui porte sur la conception de minirobotspiézoélectriques. L’objectif de la thèse passe par l’utilisation astucieuse de pastilles piézoélectriquessur un support dont les oscillations (induites par l’actionnement piézoélectrique) recréeront la reptationpour le milieu terrestre, l’ondulation pour le milieu aquatique ou les torsions des ailes pour le milieuaérien. Des études ont été faites sur la conception et la modélisation de ces robots dans différentsmilieux et une réalisation expérimentale a validé le fonctionnement dans le milieu terrestre.Objectif du stageL’objectif du stage est de faire évoluer le minirobot piézoélectrique terrestre pour des applicationsdans un milieu aquatique et/ou aérien. Pour le milieu aquatique, deux chemins sont envisagés, lepremier est de mettre une nageoire caudale (queue) sur le corps du minirobot, le deuxième est demettre des nageoires latérales ondulant pour la propulsion. Pour le milieu aérien, on s’intéressera auxdéformations des ailes. Le logiciel par éléments fins Comsol® sera utilisé pour vérifier les résultatsexpérimentaux et pour la démarche de conception.Références[1] H. Hariri, Y. Bernard, A. Razek, ‘’Millipede-inspired motion of piezoelectric mini-robot’’, submitted in IEEE TR on mechatronics, focused section on bio-inspired mechatronics, 2011.[2] K H. Low, ‘’ Modelling and parametric study of modular undulating fin rays for fish robots’’, Journal of mechanism & machine theory, 2009.[3] R J. Bachmann, F J. Boria, R. Vaidyanathan, P G. Ifju, R D. Quinn, ‘’A biologically inspired micro vehicle capable of aerial and terrestrial locomotion’’, Journal of mechanism & machine theory, 2009.[4] H. Hariri, Y. Bernard, A. Razek, "Locomotion principles for piezoelectric miniature robots ", Proceedings of ACTUATOR 10, 2010.http://www.wix.com/hassanhariri/robot-piezoelectriquePersonne à contacter Yves BERNARD 0169851661 yves.bernard@lgep.supelec.frRemarques L’indemnité légale est prévue. Si l’étudiant obtient un financement, ce stage peutdéboucher sur une thèse.Mots-clés : Matériaux piézoélectriques, minirobots aquatiques et aériens, conceptionmécatronique.

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