Towards a 3g crawling robot through the integration of microrobot technologies
Towards a 3g crawling robot through the integration of microrobot technologies
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DOI：
10.1109/robot.2006.1641727
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发表时间：
2006-05
期刊：
影响因子：
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通讯作者：
R. Sahai;S. Avadhanula;R. Groff;E. Steltz;R. Wood;R. Fearing
中科院分区：
文献类型：
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作者：
R. Sahai;S. Avadhanula;R. Groff;E. Steltz;R. Wood;R. Fearing
本文讨论了一种综合运用各种微机器人技术的3g自主爬行机器人的仿生设计与装配。六足结构被设计成以交替的三脚架步态移动，该步态由通过滑动板连接到两组三条腿的两个压电致动器驱动。我们目前的结果的运动学和静力学分析的驱动机构，基本上由三个滑块曲柄串联。该分析证实了推进器械所需的力差。然后，我们审查各种其他microrobot技术，已开发包括致动器的设计和制造，电源和控制电子设计，通过有限状态机编程，和bioinspired纤维阵列的发展。这些技术随后被成功地集成到设备中。机器人现在正在运行，我们已经制造了三个迭代的拟议设备。我们希望通过进一步的设计迭代，在不久的将来产生一个完全可操作的模型
This paper discusses the biomimetic design and assembly of a 3g self-contained crawling robot fabricated through the integrated use of various microrobot technologies. The hexapod structure is designed to move in an alternating tripod gait driven by two piezoelectric actuators connected by sliding plates to two sets of three legs. We present results of both the kinematic and static analyses of the driving mechanism that essentially consists of three slider cranks in series. This analysis confirmed the force differential needed to propel the device. We then review various other microrobot technologies that have been developed including actuator design and fabrication, power and control electronics design, programming via a finite state machine, and the development of bioinspired fiber arrays. These technologies were then successfully integrated into the device. The robot is now functioning and we have already fabricated three iterations of the proposed device. We hope with further design iterations to produce a fully operational model in the near future