Sub-gram in-plane vibration-driven robot with inclined legs

摘要: Despite the breakthroughs in locomotion of robots at macroscale, there is not a counterpart miniature scale. A recent review [1] pointed out limitations sub-gram systems. Locomotion based on legs already well established for robotic platforms. Assuming back and forth motion legs, net displacement can be attained when forward slip equal to backward slip. The use inclined common approach achieve such an asymmetric Reference [2] provides excellent this approach. Here we propose system flexible materials. body robot was 3 cm long thin film piezoelectric polyvinylidene fluoride (PVDF) polymer. actuation mechanism in-plane extensional vibration mode PVDF film. Two U-shaped 3D printed nylon were fabricated, each attached edges support. total mass PVDF/legs combination below 20 mg all cases under study. Unidirectional achieved, with maximum speed 47 mm/s, equivalent 1.5 lengths/s, voltage 15 V, 2 mm angle 60o film. [1] Ryan St. Pierre, Sarah Bergbreiter, “Toward Autonomy Sub-Gram Terrestrial Robots”. Annual Review Control, Robotics, Autonomous Systems 2, 16.1-16.22, 2019. [2] Walter Driesen, “Concept, Modeling experimental characterization modulated friction inertial drive (MFID) principle: Application mobile microrobots”. PhD thesis, Ecole polytecnique federale de Lausanne, 2008.