Abstract
For their small size, good mobility and energy saving, miniature mobile robots have possibility application in many domains, but it is hard for traditional locomotion mechanisms to fit miniature robot well because of their complex structures. To solve this problem, a kind of resonant locomotion principle based on impact force is proposed and analyzed through numerical simulation of the vibro-impact system model. And then, a prototype locomotion mechanism and an energetically autonomous robot actuated by piezoelectric bimorphs are developed and tested. Experiment results show that the mechanism can achieve locomotion velocity as high as 280mm/s with the 10V excitation voltage, and can also generate motion about 16mm/s with excitation voltage as low as only 1V.
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