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Piezoelectric Miniature Robot Inspired by Ultrasonic Motors
Piezoelectric Miniature Robot Inspired by Ultrasonic Motors
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Hassan Hariri
Yves Bernard
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1 Introduction
The piezoelectric miniature robot presented in this paper is inspired from linear traveling wave
ultrasonic motors. The idea of this piezoelectric miniature robot is to generate a traveling wave in a
beam structure to move it on a solid substrate using piezoelectric patches bonded on the beam
surface.
Several configurations were reported in literature to excite traveling waves in finite structures.
Among them we can cite the one mode excitation presented first by Kuribayashi et al. [1] and the
two modes excitation presented first by B.G. Loh et al. [2]. Both methods are presented for
ultrasonic linear motor. Other methods used to generate traveling wave in finite beam structure, like
feedback control method, active control method and adaptive control method also exist in literature.
Interested readers can refer to [3] where the authors present an important review to excite traveling
wave in finite beam structure. B.G. Loh and P.I. Ro [2] have demonstrated experimentally the
possibility to generate a traveling wave on a finite length using two piezoelectric Langevin
transducers as vibrators (two modes excitation). Some experimental tests are done in their works to
characterize this linear traveling wave ultrasonic motor. Other type of traveling wave linear
ultrasonic motors using piezoelectric patches bonded on an elastic structure as actuators are
presented also in literature. These types of motors use many piezoelectric patches bonded on one or
both sides of the elastic structure combined with teeth form structure to generate the traveling wave.
As examples of such type of motors we can cite [4]. Dual piezoelectric actuators for the traveling
wave ultrasonic motor are presented in [5], this motor uses dual piezoelectric patches bonded on the
beam structure and it uses teeth form to amplify the traveling wave obtained with the two modes
excitation method. A review of locomotion principles for piezoelectric miniature robots in [6]
demonstrates that there is no piezoelectric miniature robot reported in the literature based on the
Fig. 1. Schematic diagram of the piezoelectric miniature robot. 3D view on the top and side view on the bottom
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Fig. 2. Travelling wave performance in simulation at the middle of f16 & f17
Experimental implementation is shown in Figure 3. In this figure power amplifiers are used to
amplify signal provided by the signal generator to the piezoelectric patches.
Simulations show that the optimal operating frequency is between 10.5 kHz (sixth resonant
frequency) and 11.8 kHz (seventh resonant frequency). Experimentally, the optimal operating
frequency was equal to 11.3 kHz. The robot has the highest speed at this frequency.
References
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M. Kuribayashi, S. Ueha, E. Mori, Excitaion conditions of a flexural traveling waves for a reversible
ultrasonic linear motorJournal of the acoustical society of America 77 , 5 (1985)
B. Loh, P. Ro, An object transport system using flexural ultrasonic progressive waves generated by two
modes excitation IEEE transaction on ultrasonic, ferroelectrics, and frequency control , 6 (2000)
R. Gabai, I. Bucher, Excitation and sensing of multiple vibrating traveling waves in one-dimensional
stucturesJournal of sound and vibration, 20 (2009)
Y. Roh, S. Lee, W. Han, Design and fabrication of a new traveling wave-type ultrasonic linear motor
Sensors and actuators A 94 , 6 (2001)
P. Suybangdum, P. Smithmaitrie, P. Laoratanakul, Dual piezoelectric actuators for the traveling wave
ultrasonic linear motorFourth International Conference on Experimental Mechanics (2009)
H. Hariri, Y. Bernard, A. Razek, Locomotion principles for piezoelectric miniature robots Proceedings
of ACTUATOR 10, 6 (2010)
H. Hariri, Y. Bernard, A. Razek, Finite element model of a beam structure with piezoelectric patches
using RL shunt circuits, AC2011, 14th International Conference on active systems for dynamics markets, 8
(2011)