Wang Gangqiang, Li Chaodong, Yuan Tao
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China.
Rev Sci Instrum. 2017 Nov;88(11):115001. doi: 10.1063/1.4991063.
We describe the design and control of a four legged walking robot, 45 g in weight and 130 mm × 105 mm × 25 mm in size. Each leg consists of two piezoelectric bimorph actuators that are bonded at the free end by a flexure and an end-effector. The robot generates stick-slip locomotion when applying sawtooth shaped voltage signals. Friction between legs and a contact surface is analyzed by using the Coulomb friction model. Locomotion characteristics are measured in several experiments. The robot was driven with frequencies up to 75 Hz, and a maximum velocity of 65 mm/s was obtained at two frequencies: 45 Hz with 190 Vpp driving voltage and 60 Hz with 170 Vpp driving voltage, respectively.
我们描述了一种四足步行机器人的设计与控制，其重量为45克，尺寸为130毫米×105毫米×25毫米。每条腿由两个压电双晶片致动器组成，它们在自由端通过一个挠曲件和一个末端执行器相连。当施加锯齿形电压信号时，机器人产生粘滑运动。利用库仑摩擦模型分析腿与接触面之间的摩擦力。通过几个实验测量了运动特性。该机器人的驱动频率高达75赫兹，分别在45赫兹（驱动电压为190Vpp）和60赫兹（驱动电压为170Vpp）这两个频率下获得了65毫米/秒的最大速度。
