A piezoelectric-driven inchworm locomotion device

被引：67

作者：

Lobontiu, N ^{[1
]}

Goldfarb, M ^{[1
]}

Garcia, E ^{[1
]}

机构：

[1] Vanderbilt Univ, Ctr Intelligent Mechatron, Dept Mech Engn, Nashville, TN 37235 USA

来源：

MECHANISM AND MACHINE THEORY | 2001年 / 36卷 / 04期

关键词：

piezoelectric actuation; unimorph; inchworm; locomotion device; elastodynamics;

D O I：

10.1016/S0094-114X(00)00056-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An inchworm locomotion device is presented that can walk on smooth terrain. It consists of a piezoelectric unimorph and two custom-designed legs. A mathematical model is formulated by superimposing the compliant and rigid-body components of the motion. The model is subsequently utilized to evaluate the ground reaction forces and horizontal velocity. Numerical simulation is performed to select the geometry parameters that improve the motion efficiency. An inchworm prototype was tested to verify the theoretical predictions. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：425 / 443

页数：19

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