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Wu G, Wang Z, Wu Y, Zhao J, Cui F, Zhang Y, Chen W. Development and Improvement of a Piezoelectrically Driven Miniature Robot. Biomimetics (Basel) 2024; 9:226. [PMID: 38667237 PMCID: PMC11048175 DOI: 10.3390/biomimetics9040226] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2024] [Revised: 04/01/2024] [Accepted: 04/07/2024] [Indexed: 04/28/2024] Open
Abstract
In this paper, we proposed a miniature quadrupedal piezoelectric robot with a mass of 1.8 g and a body length of 4.6 cm. The robot adopts a novel spatial parallel mechanism as its transmission. Each leg of the robot has two degrees of freedom (DOFs): swing and lift. The trajectory necessary for walking is achieved by the appropriate phasing of these two DOFs. A new manufacturing method for piezoelectric actuators was developed. During the stacking process, discrete patterned PZT pieces are used to avoid dielectric failure caused by laser cutting. Copper-clad FR-4 is used as the solder pad instead of copper foil, making the connection between the pad and the actuator more reliable. The lift powertrain of the robot was modeled and the link length of the powertrain was optimized based on the model. The maximum output force of each leg can reach 26 mN under optimized design parameters, which is 1.38 times the required force for successful walking. The frequency response of the powertrain was measured and fitted to the second-order system, which enabled increased leg amplitudes near the powertrain resonance of approximately 70 Hz with adjusted drive signals. The maximum speed of the robot without load reached 48.66 cm/s (10.58 body lengths per second) and the payload capacity can reach 5.5 g (3.05 times its mass) near the powertrain resonance.
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Affiliation(s)
- Guangping Wu
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
| | - Ziyang Wang
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
| | - Yuting Wu
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
| | - Jiaxin Zhao
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
| | - Feng Cui
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
| | - Yichen Zhang
- National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China; (G.W.); (Z.W.); (Y.W.); (J.Z.); (Y.Z.)
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
| | - Wenyuan Chen
- Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
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Zheng Z, Han J, Shi Q, Demir SO, Jiang W, Sitti M. Single-step precision programming of decoupled multiresponsive soft millirobots. Proc Natl Acad Sci U S A 2024; 121:e2320386121. [PMID: 38513101 PMCID: PMC10990116 DOI: 10.1073/pnas.2320386121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Accepted: 02/16/2024] [Indexed: 03/23/2024] Open
Abstract
Stimuli-responsive soft robots offer new capabilities for the fields of medical and rehabilitation robotics, artificial intelligence, and soft electronics. Precisely programming the shape morphing and decoupling the multiresponsiveness of such robots is crucial to enable them with ample degrees of freedom and multifunctionality, while ensuring high fabrication accuracy. However, current designs featuring coupled multiresponsiveness or intricate assembly processes face limitations in executing complex transformations and suffer from a lack of precision. Therefore, we propose a one-stepped strategy to program multistep shape-morphing soft millirobots (MSSMs) in response to decoupled environmental stimuli. Our approach involves employing a multilayered elastomer and laser scanning technology to selectively process the structure of MSSMs, achieving a minimum machining precision of 30 μm. The resulting MSSMs are capable of imitating the shape morphing of plants and hand gestures and resemble kirigami, pop-up, and bistable structures. The decoupled multistimuli responsiveness of the MSSMs allows them to conduct shape morphing during locomotion, perform logic circuit control, and remotely repair circuits in response to humidity, temperature, and magnetic field. This strategy presents a paradigm for the effective design and fabrication of untethered soft miniature robots with physical intelligence, advancing the decoupled multiresponsive materials through modular tailoring of robotic body structures and properties to suit specific applications.
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Affiliation(s)
- Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an710054, China
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an710054, China
| | - Qing Shi
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing100081, China
| | - Sinan Ozgun Demir
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an710054, China
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an710054, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Turkey
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Tang L, Wang C, Ma S, Li Y, Li B. Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing. Adv Sci (Weinh) 2024; 11:e2307738. [PMID: 38093662 PMCID: PMC10916667 DOI: 10.1002/advs.202307738] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2023] [Revised: 11/22/2023] [Indexed: 12/20/2023]
Abstract
Insect-scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self-contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation-dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two-legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight-forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion-transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.
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Affiliation(s)
- Lingqi Tang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Chenghao Wang
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Songsong Ma
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
| | - Yao Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
| | - Bing Li
- School of Mechanical Engineering and AutomationHarbin Institute of TechnologyShenzhen518055China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive RoboticsHarbin Institute of TechnologyShenzhen518055China
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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Li J, Deng J, Zhang S, Chen W, Zhao J, Liu Y. Developments and Challenges of Miniature Piezoelectric Robots: A Review. Adv Sci (Weinh) 2023; 10:e2305128. [PMID: 37888844 PMCID: PMC10754097 DOI: 10.1002/advs.202305128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/26/2023] [Indexed: 10/28/2023]
Abstract
Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.
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Affiliation(s)
- Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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Nguyen TL, Blight A, Pickering A, Jackson-Mills G, Barber AR, Boyle JH, Richardson R, Dogar M, Cohen N. Autonomous control for miniaturized mobile robots in unknown pipe networks. Front Robot AI 2022; 9:997415. [PMID: 36466736 PMCID: PMC9709324 DOI: 10.3389/frobt.2022.997415] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Accepted: 10/14/2022] [Indexed: 04/13/2024] Open
Abstract
Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe, cannot access small-diameter pipes, and their deployment incurs high costs for highly skilled operators. In this paper, we introduce a miniaturised mobile robot for pipe inspection. We present an autonomous control strategy for this robot that is effective, stable, and requires only low-computational resources. The robots used here can access pipes as small as 75 mm in diameter. Due to their small size, low carrying capacity, and limited battery supply, our robots can only carry simple sensors, a small processor, and miniature wheel-legs for locomotion. Yet, our control method is able to compensate for these limitations. We demonstrate fully autonomous robot mobility in a sewer pipe network, without any visual aid or power-hungry image processing. The control algorithm allows the robot to correctly recognise each local network configuration, and to make appropriate decisions accordingly. The control strategy was tested using the physical micro robot in a laboratory pipe network. In both simulation and experiment, the robot autonomously and exhaustively explored an unknown pipe network without missing any pipe section while avoiding obstacles. This is a significant advance towards fully autonomous inspection robot systems for sewer pipe networks.
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Affiliation(s)
- T. L. Nguyen
- School of Computing, University of Leeds, Leeds, United Kingdom
| | - A. Blight
- School of Mechanical Engineering, University of Leeds, Leeds, United Kingdom
| | - A. Pickering
- School of Mechanical Engineering, University of Leeds, Leeds, United Kingdom
| | - G. Jackson-Mills
- School of Mechanical Engineering, University of Leeds, Leeds, United Kingdom
| | - A. R. Barber
- School of Mechanical Engineering, University of Leeds, Leeds, United Kingdom
| | - J. H. Boyle
- Faculty of Industrial Design Engineering, Delft University of Technology, Delft, Netherlands
| | - R. Richardson
- School of Mechanical Engineering, University of Leeds, Leeds, United Kingdom
| | - M. Dogar
- School of Computing, University of Leeds, Leeds, United Kingdom
| | - N. Cohen
- School of Computing, University of Leeds, Leeds, United Kingdom
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Robles-Cuenca D, Ramírez-Palma MR, Ruiz-Díez V, Hernando-García J, Sánchez-Rojas JL. Miniature Autonomous Robot Based on Legged In-Plane Piezoelectric Resonators with Onboard Power and Control. Micromachines (Basel) 2022; 13:1815. [PMID: 36363836 PMCID: PMC9692952 DOI: 10.3390/mi13111815] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/10/2022] [Revised: 10/20/2022] [Accepted: 10/22/2022] [Indexed: 06/16/2023]
Abstract
This work reports the design, fabrication, and characterization of a centimetre-scale autonomous robot with locomotion based on in-plane piezoelectric resonators and 3D-printed inclined legs. The robot consists of a pair of cooperative piezoelectric motors, an electronic power circuit and a battery-powered microcontroller. The piezoelectric motors feature a lead zirconate titanate (PZT) plate of dimensions 20 mm × 3 mm × 0.2 mm vibrating on its first extensional resonant mode at around 70 kHz. A particular position of 3D-printed inclined legs allowed the conversion of the in-plane movement into an effective forward thrust. To enable arbitrary trajectories of the robot on a surface, two parallel piezoelectric plate motors were arranged in a differential drive scheme. The signals to excite these plates were generated by the microcontroller and adapted by a supplementary electronic circuit to increase the effective voltage supplied by the onboard battery. The fully assembled robot had a size of 27 mm × 15 mm and a weight of 7 g and reached a linear speed of approximately 15 mm/s and a rotational speed of up to 50 deg./s. Finally, the autonomous robot demonstrated the ability to follow pre-programmed paths.
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Wu F, Vibhute A, Soh GS, Wood KL, Foong S. A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots. Sensors (Basel) 2017; 17:s17061231. [PMID: 28555030 PMCID: PMC5492687 DOI: 10.3390/s17061231] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/20/2017] [Revised: 05/23/2017] [Accepted: 05/24/2017] [Indexed: 11/16/2022]
Abstract
Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the “hit and run” technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes.
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Affiliation(s)
- Fang Wu
- Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore.
| | - Akash Vibhute
- Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore.
| | - Gim Song Soh
- Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore.
| | - Kristin L Wood
- Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore.
| | - Shaohui Foong
- Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore.
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