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Legged jump robot based on piezoelectric drive and control method thereof

A technology of piezoelectric drive and control method, which is applied in the field of jumping robots to achieve the effect of expanding the application field and the range of motion

Active Publication Date: 2019-02-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The challenge of the shape memory alloy jumping robot lies in the smooth landing without flipping and the state recovery after jumping, without affecting the subsequent forward or second jumping motion

Method used

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  • Legged jump robot based on piezoelectric drive and control method thereof
  • Legged jump robot based on piezoelectric drive and control method thereof
  • Legged jump robot based on piezoelectric drive and control method thereof

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Embodiment Construction

[0033] Below in conjunction with accompanying drawing and specific embodiment the technical solution of the present invention is described in further detail:

[0034] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0035] The legged jumping robot based on piezoelectric drive of the present invention includes first to fourth driving feet, first to fourth PVC film layers, first and second shape memory alloy springs, first and second bouncing legs, and a third spring And the stopper, wherein, the first to the fourth PVC film layers are arranged sequentially from top to bottom, there is a gap between the two, and the two ends are bonded to each other, and the bonding ends...

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Abstract

The invention discloses a legged jump robot based on piezoelectric drive and a control method thereof. The robot comprises a flexible body formed by folding four layers of planar PVC film and four piezoelectric bimorph pins, wherein the PVC film layers are connected with bounce legs, stop pieces, shape memory alloy springs and stainless steel springs. By utilizing the vibration of the piezoelectric bimorphs under the effect of sine and cosine voltages, the robot can perform straight-line walking. By utilizing the heating construction performance of shape memory alloy, the PVC layers store andrelease strain energy to achieve folding and unfolding of the bounce legs, the robot can obliquely and upward jump and be repristinated for continuous walking, and mutual switching of motion modes isachieved. The legged jump robot integrates the advantages of quick response of piezoelectric drive, high precision and large deformation of shape memory alloy, linear and jumping motions of the robotare achieved, and the application field and motion range of the piezoelectric robot are widened.

Description

technical field [0001] The present invention relates to the field of ultrasound, the field of piezoelectric technology and the field of jumping robots, in particular to a piezoelectric-driven legged jumping robot and a control method thereof. Background technique [0002] Piezoelectric mobile robots have the advantages of high precision, fast response, light weight, and small size. They have broad application prospects and market potential in the fields of precision instruments, aerospace, weaponry, and biomedicine. The motion of the piezoelectric robot is based on the high-frequency vibration generated by the inverse piezoelectric effect of piezoelectric ceramics, with small strain and limited to in-plane motion. However, in practical applications, the robot needs to adapt to complex terrain, flexibly change the way of movement, and have the ability to overcome obstacles, so the jumping robot can expand the range of motion and application of the robot. [0003] Traditional...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 毛婷彭瀚旻冒林丽
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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