A 3-DOFs mobile robot driven by a piezoelectric actuator

Abstract

In this paper, a novel miniature-step mobile robot with three degrees of freedom (DOFs) is developed based on the inchworm principle. This device, driven by a piezo stack actuator, utilizes a rhombic flexure hinge mechanism and four electromagnetic legs to achieve large stroke translation and rotation with high resolution on a platform. The design process of the rhombic flexible frame and the electromagnetic legs is described. The electric circuits for generating appropriate voltage signals are designed to control the legs to clamp to and release from the platform. In order to investigate the motion characteristics of the device, a series of experiments was carried out. The experimental results confirm that the device is capable of performing a 3-DOFs motion with a high resolution on a platform. Furthermore, the platform loading capacity allows some additional devices like a gripper or any other device for a particular application to be mounted on board. This enables the device's potential in a wide variety of applications.