FINDING VIBRATION MODES FOR A PIEZO DRIVEN ROBOT STRUCTURE
Abstract: The modes of vibration of a piezoelectric-driven small scale robot are experimentally identified. The structure is excited harmonically by using a sinusoidal waveform in a wide frequency band by using a particular command module based on a microcontroller or by using dedicated excitation approaches. Fine sand spread over the flat structure is showing the structural resonances and approximately the nodes of vibration. The finite element modal analysis is helping to find the modal shapes and consequently the legs attachment spots on the vibrating robot structure.
Keywords: piezoelectric ceramic, miniature mobile robot, modes of vibration, modal shape, resonance.
Ciascai, I., Microcontrolere AVR, Presa Universitară Clujeană, 2013.
Becker, F., An Approach to the Dynamics of Vibration-driven Robots with Bristles, 2015, International Federation of Automatic Control, IFAC paper 2015, TU. Ilmenau.
Becker, F., Minchenya, V., Zeidis,I., Zimmermann K., Modeling and dynamical simulation of vibration-driven robots, 2011.
Fang,H., Wang, K, Piezoelectric vibration-driven locomotion systems – Exploiting resonance and bistable dynamics, Journal of Sound and Vibration 391 (2017) 153–169.
Hariri, H., Soh,G., Foong,S., Wood,K., Locomotion study of a standing wave driven piezoelectric miniature robot for bi-directional motion, Ieee Transactions on robotics, vol. xxx, no. x, August 2016.
Hida,H., Kurokawa,F., Kanno,I., Simple millimeter scale robot using Pb (Zr, Ti) piezoelectric thin film actuator on titanium substrate, Microsystem Technologies, 2016
Lobonţiu,N., Goldfarb, M., Garcia, E., A piezoelectric-driven inchworm locomotion device, Mechanism and Machine Theory, 36, 2001.
Lupea,I., Vibration and noise measurement by using Labview programming, Casa Cărţii de Ştiinţă, Cluj-Napoca, 2005.
Lupea, I., Updating of an exhaust system model by using test data from EMA, Proceedings Romanian Academy series A-Mathematics physics technical sciences, information science, Vol.: 14, Issue: 4, 2013
- There are currently no refbacks.