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's speed is derived through kinematic modeling and experimentally verified using a fabricated prototype. The robot prototype's performance in terms of its payload capability and nominal operating power is also characterized experimentally. These results will be important for developing a motion planning control strategy for a autonomous robot locomotion, which will be part of future work.
Skip Nav Destination
Article navigation
April 2018
Research-Article
Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage
Audelia G. Dharmawan,
Audelia G. Dharmawan
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: audelia@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: audelia@sutd.edu.sg
Search for other works by this author on:
Hassan H. Hariri,
Hassan H. Hariri
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: hassan_hariri@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: hassan_hariri@sutd.edu.sg
Search for other works by this author on:
Gim Song Soh,
Gim Song Soh
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: sohgimsong@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: sohgimsong@sutd.edu.sg
Search for other works by this author on:
Shaohui Foong,
Shaohui Foong
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: foongshaohui@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: foongshaohui@sutd.edu.sg
Search for other works by this author on:
Kristin L. Wood
Kristin L. Wood
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: kristinwood@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: kristinwood@sutd.edu.sg
Search for other works by this author on:
Audelia G. Dharmawan
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: audelia@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: audelia@sutd.edu.sg
Hassan H. Hariri
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: hassan_hariri@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: hassan_hariri@sutd.edu.sg
Gim Song Soh
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: sohgimsong@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: sohgimsong@sutd.edu.sg
Shaohui Foong
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: foongshaohui@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: foongshaohui@sutd.edu.sg
Kristin L. Wood
Engineering Product Development,
Singapore University of Technology and Design,
Singapore 487372
e-mail: kristinwood@sutd.edu.sg
Singapore University of Technology and Design,
Singapore 487372
e-mail: kristinwood@sutd.edu.sg
1Corresponding author.
Manuscript received September 14, 2017; final manuscript received December 4, 2017; published online February 1, 2018. Assoc. Editor: Andrew P. Murray.
J. Mechanisms Robotics. Apr 2018, 10(2): 021003 (8 pages)
Published Online: February 1, 2018
Article history
Received:
September 14, 2017
Revised:
December 4, 2017
Citation
Dharmawan, A. G., Hariri, H. H., Soh, G. S., Foong, S., and Wood, K. L. (February 1, 2018). "Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage." ASME. J. Mechanisms Robotics. April 2018; 10(2): 021003. https://doi.org/10.1115/1.4038970
Download citation file:
Get Email Alerts
Positioning error estimation models for horizontal-distributed PUU parallel mechanism
J. Mechanisms Robotics
A Cable-Based Haptic Interface with a Reconfigurable Structure
J. Mechanisms Robotics
Prediction of Human Reaching Pose Sequences In Human-Robot Collaboration
J. Mechanisms Robotics
The database generation for planar 2-DOF fractionated multiple-joint kinematic chains
J. Mechanisms Robotics
Related Articles
Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod
J. Mechanisms Robotics (February,2017)
Exo-Leg: An Active Single-Leg External Walking Assist Device
J. Med. Devices (June,2010)
Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place Applications
J. Mechanisms Robotics (May,2009)
Development of a Biomimetic Masticating Robot for Food Texture Analysis
J. Mechanisms Robotics (April,2022)
Related Proceedings Papers
Related Chapters
Linkages for Leg Mechanisms
Designs and Prototypes of Mobile Robots
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
FSF of Serial-kinematics Systems
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy