A 3-DOFs mobile robot driven by a piezoelectric actuator

In this paper, a novel miniature-step mobile robot with three degrees of freedom (DOFs) is developed based on the inchworm principle. This device, driven by a piezo stack actuator, utilizes a rhombic flexure hinge mechanism and four electromagnetic legs to achieve large stroke translation and rotation with high resolution on a platform. The design process of the rhombic flexible frame and the electromagnetic legs is described. The electric circuits for generating appropriate voltage signals are designed to control the legs to clamp to and release from the platform. In order to investigate the motion characteristics of the device, a series of experiments was carried out. The experimental results confirm that the device is capable of performing a 3-DOFs motion with a high resolution on a platform. Furthermore, the platform loading capacity allows some additional devices like a gripper or any other device for a particular application to be mounted on board. This enables the device's potential in a wide variety of applications.

[1]  Ephrahim Garcia,et al.  A piezoelectric-driven inchworm locomotion device , 2001 .

[2]  Eiji Shamoto,et al.  Development of a “walking drive” ultraprecision positioner , 1997 .

[3]  Toshiro Higuchi,et al.  A micropositioning device for precision automatic assembly using impact force of piezoelectric elements , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[4]  Giovanni Muscato,et al.  PLIF: piezo light intelligent flea-new micro-robots controlled by self-learning techniques , 1997, Proceedings of International Conference on Robotics and Automation.

[5]  Stefen Riebel,et al.  General description of the wireless miniature NanoWalker robot designed for atomic-scale operations , 2001, Optics East.

[6]  Yung-Tien Liu,et al.  A self-moving precision positioning stage utilizing impact force of spring-mounted piezoelectric actuator , 2002 .

[7]  P. E. Tenzer,et al.  On amplification in inchworm™ precision positioners , 2004 .

[8]  Branislav Borovac,et al.  A platform for micropositioning based on piezo legs , 2001 .

[9]  A. L. Shabalin,et al.  Simple, high precision linear‐motor‐driven XYΘ positioner (Walker) , 1991 .

[10]  J. Paros.  How to design flexure hinges , 1965 .

[11]  B. Zhang,et al.  Developing a linear piezomotor with nanometer resolution and high stiffness , 1997 .

[12]  Stuart T. Smith,et al.  Foundations of ultraprecision mechanism design , 1992 .

[13]  T. Higuchi,et al.  Precise Positioner Utilizing Rapid Deformations of a Piezoelectric Element , 1988 .

[14]  Hong Tan,et al.  DESIGN NOTE: The design and characterization of a piezo-driven ultra-precision stepping positioner , 2000 .

[15]  J. M. Paros,et al.  Flexure Pivots to Replace Knife Edge and Ball Bearing , 1965 .

[16]  T. Higuchi,et al.  Precision positioning device utilizing impact force of combined piezo-pneumatic actuator , 2001 .