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Design and Gait Analysis of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage

[+] Author Affiliations
Audelia G. Dharmawan, Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood

Singapore University of Technology and Design, Singapore, Singapore

Paper No. DETC2017-67267, pp. V05BT08A003; 10 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5818-9
  • Copyright © 2017 by ASME


This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages and its gait cycle is described. The robot speed is derived through kinematic modelling and experimentally verified using a fabricated prototype. This result will be important for developing a motion planning control strategy for the robot locomotion, which will be part of future work.

Copyright © 2017 by ASME



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