Analysis of quasi-static and dynamic motion mechanisms for piezoelectric miniature robots

摘要: Abstract Piezoceramic actuators are often used when there is a need for high precision translation and therefore of particular interest in the development miniature robotic systems. In this paper effect miniaturisation on two dynamic quasi-static motion mechanisms has been experimentally evaluated using piezoceramic drive unit. The actuator design, comprising six multilayer bimorphs, rapid prototype process to fabricate monolithic structure, described. Experiments show that mass 1–10 g, corresponding robot considered, it possible use both mechanisms. With present unit at low loads, less demanding work closer ideal case than At higher loads opposite will general be true. Artefacts due vibrations bouncing vertical direction main reason non-ideal behaviour small movable used. particular, movements generated by utilizing velocity component sensitive mass. design parameters avoid or reduce these artefacts identified discussed.