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Smart
Materials
for Robotics
2
Piezoelectric actuation for mobile
miniature robots
3
Piezoelectric actuation for mobile miniature robots
 Actuators are responsible for motion in mobile miniature robotic a...
4
The piezoelectric actuators in comparison with other types of actuators have:
 high displacement accuracy,
 high respo...
5
Also among the advantages, piezoelectric actuators have:
 low energy consumption in static state,
 high reliability an...
6
In mobile miniature robots:
 High displacement (Fast speed)
Onboard electronics
are essential
However,
Piezoelectric a...
7
Piezoelectric actuation for mobile miniature robots
References:
Karpelson, M., Wei, G. Y., Wood, R. J. Driving high volt...
8
Piezoelectric actuators suffer from:
Low strain (displacement) generated,

Reference: Karpelson, M., Wei, G. Y., Wood,...
9
Piezoelectric actuators suffer from:
,
 and high driven voltage
Piezoelectric actuation for mobile miniature robots
PI:...
10
Piezoelectric actuation for mobile miniature robots
Piezoelectric actuators suffer from:
,
 and high driven voltage
PI...
11
Piezoelectric actuation for mobile miniature robots
Piezoelectric actuators suffer from:
,
 and high driven voltage
PI...
12
Piezoelectric actuation for mobile miniature robots
Piezoelectric actuators suffer from:
,
 and high driven voltage
Ex...
13
Piezoelectric actuation for mobile miniature robots
Piezoelectric actuators suffer from:
,
 and high driven voltage
Lo...
14
G E P
Locomotion principles Classification:
 Locomotion on a solid substrate
 Locomotion in liquid
 Locomotion in ai...
15
G E P
Fish swimming mechanisms
Locomotion in liquid
Locomotion at the water surface
[9][9]
[10]
[11]
[12]
Piezoelectric...
16
G E P
Locomotion in air
Active air vehicle
 Flapping wing
 Rotary wing
 Fixed wing
 Passive air vehicle
 Gliding ...
17
Thank you
Dr. Hassan Hariri
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Piezoelectric actuation for mobile miniature robot

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Locomotion principles on a solid substrate for mobile miniature robots includes wheeled, walking, inchworm, inertial drive, resonant drive and friction drive. In liquid, it is divided into locomotion within the liquid or at the surface and they usually mimics animal behaviour. On air, the flapping wing is the most efficient way for propulsion.

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Piezoelectric actuation for mobile miniature robot

  1. 1. Smart Materials for Robotics
  2. 2. 2 Piezoelectric actuation for mobile miniature robots
  3. 3. 3 Piezoelectric actuation for mobile miniature robots  Actuators are responsible for motion in mobile miniature robotic applications.  Many actuators (smart materials) types used in mobile miniature robots to convert electrical to mechanical energy: 1) Electrostrictive, 2) piezoelectric ceramics, 3) shape memory alloys, 4) magnetostrictive materials, 5) Magnetorheological fluids. 6) A new class of electroactive polymers (EAP) PI: http://www.physikinstrumente.com/
  4. 4. 4 The piezoelectric actuators in comparison with other types of actuators have:  high displacement accuracy,  high response speed,  high actuation force  and high power to weight ratio. Therefore, they are ideal for applications requiring very high accuracy, fast response and very small powerful and compact devices. Piezoelectric actuation for mobile miniature robots PI: http://www.physikinstrumente.com/
  5. 5. 5 Also among the advantages, piezoelectric actuators have:  low energy consumption in static state,  high reliability and a long lifetime,  do not generate magnetic fields nor are they affected by them,  do not have moving parts like gears or bearings,  and can operate even at very low temperatures. very high accuracy, fast response and very small powerful and compact devices. Tomoaki Mashimo, spherical ultrasonic motor, 2013 Piezoelectric actuation for mobile miniature robots http://global.epson.com/ PI: http://www.physikinstrumente.com/
  6. 6. 6 In mobile miniature robots:  High displacement (Fast speed) Onboard electronics are essential However, Piezoelectric actuators suffer from: Low strain (displacement) generated,  and high driven voltage Piezoelectric actuation for mobile miniature robots PI: http://www.physikinstrumente.com/
  7. 7. 7 Piezoelectric actuation for mobile miniature robots References: Karpelson, M., Wei, G. Y., Wood, R. J. Driving high voltage piezoelectric actuators in microrobotic applications. Sensors and Actuators A: Physical, 2011. Yong, Y. K., Fleming, A. J. Piezoelectric Actuators with Integrated High Voltage Power Electronics. Mechatronics, IEEE/ASME Transactions on,Volume:20, Issue:2, pp. 611 - 617, 2014. Piezoelectric actuators suffer from: Low strain (displacement) generated, 
  8. 8. 8 Piezoelectric actuators suffer from: Low strain (displacement) generated,  Reference: Karpelson, M., Wei, G. Y., Wood, R. J. Driving high voltage piezoelectric actuators in microrobotic applications. Sensors and Actuators A: Physical, 2011. Piezoelectric actuation for mobile miniature robots
  9. 9. 9 Piezoelectric actuators suffer from: ,  and high driven voltage Piezoelectric actuation for mobile miniature robots PI: http://www.physikinstrumente.com/
  10. 10. 10 Piezoelectric actuation for mobile miniature robots Piezoelectric actuators suffer from: ,  and high driven voltage PI: http://www.physikinstrumente.com/
  11. 11. 11 Piezoelectric actuation for mobile miniature robots Piezoelectric actuators suffer from: ,  and high driven voltage PI: http://www.physikinstrumente.com/
  12. 12. 12 Piezoelectric actuation for mobile miniature robots Piezoelectric actuators suffer from: ,  and high driven voltage Externally leveraged actuators Stepping mechanisms Lever arm Surface Acoustic Wave These two types (stepping mech. & SAW )can be combined under the name of locomotion principles in mobile robotic applications. PI: http://www.physikinstrumente.com/ http://www.piezomotor.com/
  13. 13. 13 Piezoelectric actuation for mobile miniature robots Piezoelectric actuators suffer from: ,  and high driven voltage Locomotion principles for piezoelectric miniature robots are mostly inspired from animal locomotion
  14. 14. 14 G E P Locomotion principles Classification:  Locomotion on a solid substrate  Locomotion in liquid  Locomotion in air Wheeled locomotion Walking locomotion Locomotion on a solid substrate Inchworm locomotion Inertial drive Stick-slip Impact drive Resonant drive Friction drive [1] [2] [3] [4] [5] [6] [7] [8] Piezoelectric actuation for mobile miniature robots H. Hariri, Y. Bernard, A. Razek, Locomotion principle for piezoelectric miniature robot, Proceeding of Actuator 10, 2010
  15. 15. 15 G E P Fish swimming mechanisms Locomotion in liquid Locomotion at the water surface [9][9] [10] [11] [12] Piezoelectric actuation for mobile miniature robots H. Hariri, Y. Bernard, A. Razek, Locomotion principle for piezoelectric miniature robot, Proceeding of Actuator 10, 2010
  16. 16. 16 G E P Locomotion in air Active air vehicle  Flapping wing  Rotary wing  Fixed wing  Passive air vehicle  Gliding flight Flapping wing MAV [1] K. Uchino, ‘’ Expansion from IT/Robotics to ecological/energy applications’’ ACTUATOR 2006, p.48, 2006. [2] T. Ebefors and G. Stemme, “Microrobotics,” in The MEMS Handbook (M. Gad-el Hak,ed.), pp. 28.1–28.42, Boca Raton, FL: CRC Press, 2005. [3] J.B.Penella, ‘’Smart material for microrobotics. Motion, control and power harvesting’’.Phd thesis, Barcelona university, Spain, 2005. [4] A. Codourey, W. Zesch, R. Buchi, and R. Siegwart, “A robot system for automated handling in micro-world,” in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS ’95, vol. 3, pp. 185–190, 1995. [5] A. Torii, H. Kato, and A. Ueda, “A miniature actuator with electromagnetic elements,” Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), vol. 134, no. 4, pp. 70–75, 2001. [6] ding-wave-actuated nano-positioning walking robot: Piezoelectric-metal composite beam modeling,” Journal of Vibration and Control, vol. 12, no. 12, pp. 1293–1309, 200K. J. Son, V. Kartik, J. A. Wickert, and M. Sitti, “An ultrasonic stan6. [7] http://wwwipr.ira.uka.de/i-swarm/ I-SWARM project (Intelligent Small World Autonomous Robots for Micromanipulation), 2010. [8] S.-I. Aoshima, T. Tsujimura, and T. Yabuta, “Miniature mobile robot using piezo vibration for mobility in a thin tube,” Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 115, no. 2 A, pp. 270–278, 1993. [9] M. Sfakiotakis., D.M. Lane, & JBC Davies. ‘’Review of fish swimming modes for aquatic locomotion’’, IEEE Journal of Oceanic Engineering 24-2: 237–252, 1999. [10] S. Heo, T. Wiguna, H.C. Park, N.S.Goo, ’’ Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators ’’, Journal of Bionic Engineering 4, pp. 151−158, 2007. [11] Kosa, G. Jakab, P. Hata, N. Jolesz, F. Neubach, Z. Shoham, M. Zaaroor, M. Szekely, G. ’’ Flagellar swimming for medical micro robots: Theory, experiments and application’’, 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. BioRob 2008. [12] S. H. Suhr, Y. S. Song, S. J. Lee and M. Sitti, "Biologically Inspired Miniature Water Strider Robot," Proceedings of the Robotics: Science and Systems I, Boston, U.S.A., pp. 319–325 2005. [13] Sitti, M.,’’ PZT actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax’’, Proceedings ICRA. IEEE International Conference on Robotics and Automation, vol.4, pp. 3893 – 3900, 2001. [13] Piezoelectric actuation for mobile miniature robots H. Hariri, Y. Bernard, A. Razek, Locomotion principle for piezoelectric miniature robot, Proceeding of Actuator 10, 2010
  17. 17. 17 Thank you Dr. Hassan Hariri

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