Abstract
Actuators are key components for further miniaturization of insect-scale microrobots. It is challenging to create a new miniature actuator suited for rotary-wing pico aerial vehicles (PAVs), which have a wing span of a few centimeters and a mass of a few grams. In this paper, we propose a miniature piezoelectric ultrasonic motor that permits high-speed rotation at a sufficient torque to achieve the flight of the simplest device comprising the proposed motor and rotor blades. The prototype motor, which employs a bending vibration mode as a principle, measures 1.6 mm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\times1.6$ </tex-math></inline-formula> mm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\times2$ </tex-math></inline-formula> mm and weighs 25 mg. The experimental results show that the miniature motor rotates rotor blades having a length of 20 mm with an angular velocity of over 1800 rad/s. The thrust force generated from this system exceeds its total mass of 110 mg and successfully lifts the system. Although the flight is tethered, the set of the proposed motor and rotor blades demonstrates a takeoff that represents the possibility of rotary-wing PAVs.
Highlights
M INIATURE unmanned aerial vehicles (UAVs) have a significant impact on society, based on their diverse applications ranging from the media and entertainments to deliveries and inspections [1]
This study aims to present a millimeter-scale piezoelectric ultrasonic motor that can satisfy the specifications of a rotary-wing pico air vehicles (PAVs)
RELATIONSHIP BETWEEN EQUATION OF ROTATIONAL MOTION AND ANTI-TORQUE We summarize the equations of motion for the miniature piezoelectric ultrasonic motor when it spins a load or rotor blades
Summary
M INIATURE unmanned aerial vehicles (UAVs) have a significant impact on society, based on their diverse applications ranging from the media and entertainments to deliveries and inspections [1]. Likewise, when voltage E2 = AE cos (2πfEt) and its reverse-phase voltage E4 = −AE cos (2πfEt) are applied to PZT2 and PZT4, respectively, the stator generates the same mode with an angular difference of π/2, forming an elliptical motion that rotates the rotor. C. RELATIONSHIP BETWEEN EQUATION OF ROTATIONAL MOTION AND ANTI-TORQUE We summarize the equations of motion for the miniature piezoelectric ultrasonic motor when it spins a load or rotor blades. Measuring the frequency response of the impedance shows the existence of the natural frequency: the impedance of the stator decreases when it resonates This analysis is conducted by connecting the opposing piezoelectric plates to the high and low electrodes of the impedance analyzer By tracking the movement of the marker, a timehistory data of the angular displacement can be accumulated, and angular velocity and acceleration can be calculated through the time derivation of these data
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