Design, modeling and prototyping of bio-inspired robot actuated by piezoelectric transducers
Date Issued
2018-09
Author(s)
Maja Anachkova
Jovana Jovanova
Simona Domazetovska
Abstract
This paper focuses on the design and development of a bio-inspired mobile
robot using piezoelectric transducers as drives. The design of the device aimed to imitate the
trajectory movement of a crawl-like animal. Design constraints as producing controlled
movement with piezoelectric transducer, as well as the combination of multiple piezoelectric
patches into one mobile robot are presented in their practical aspects. The robot uses 2
piezoelectric transducers as main drives, but also as main structural components of the
device. The patches are connected with a thin light rod, and the kinematic of movement is
achieved with 4 tiny wooden legs connected on each of the patches.
The project investigates the possibility and effectiveness of the piezoelectric
transducers for movement of the bio-inspired mobile robot. From conceptual development, to
the mechanical and numerical design and control, the mobile robot is used to test different
trajectories of movement. Ni RIO Evaluation kit has been incorporated as a real-time and
FPGA control platform for the mobile robot while using LabView programing environment. To accomplish complex trajectories of movement the velocity of the robot was measured for
straight line and rotation of the robot. Mathematical model is built and analyzed through
SimMechanics module in Matlab.
robot using piezoelectric transducers as drives. The design of the device aimed to imitate the
trajectory movement of a crawl-like animal. Design constraints as producing controlled
movement with piezoelectric transducer, as well as the combination of multiple piezoelectric
patches into one mobile robot are presented in their practical aspects. The robot uses 2
piezoelectric transducers as main drives, but also as main structural components of the
device. The patches are connected with a thin light rod, and the kinematic of movement is
achieved with 4 tiny wooden legs connected on each of the patches.
The project investigates the possibility and effectiveness of the piezoelectric
transducers for movement of the bio-inspired mobile robot. From conceptual development, to
the mechanical and numerical design and control, the mobile robot is used to test different
trajectories of movement. Ni RIO Evaluation kit has been incorporated as a real-time and
FPGA control platform for the mobile robot while using LabView programing environment. To accomplish complex trajectories of movement the velocity of the robot was measured for
straight line and rotation of the robot. Mathematical model is built and analyzed through
SimMechanics module in Matlab.
Subjects