The invention relates to the technical field of micro-robots, in particular to a novel piezoelectric three-legged jumping type robot and a control method thereof.The method includes the steps that a base of the robot is machined on beryllium copper through a laser cutting method, and then a piezoelectric ceramic piece is pasted on the base of the robot through epoxy resin glue; and finally, the piezoelectric driving legs are bent to obtain the appearance of the robot. And then a driving circuit and a lithium battery are connected, so that the motion mode of the robot can be controlled. Specifically, by changing a piezoelectric ceramic piece at the top of a body and applying voltages in different directions to piezoelectric driving legs, the piezoelectric driving legs continuously generate contraction and extension deformation, movement of the piezoelectric robot is achieved, and by applying voltages to different legs, displacement in a specific direction can be achieved. The piezoelectric ceramic piece on the top of the body can play a role in amplifying displacement of a single leg, and the robot can jump by applying voltage to the three legs and the ceramic piece on the top at the same time.
本发明涉及微型机器人技术领域,具体涉及一种新型的压电三足可跳跃式机器人及其控制方法,通过在铍铜上使用激光切割法加工出机器人的基底,然后使用环氧树脂胶粘贴压电陶瓷片在机器人基底上,最后将压电驱动腿折弯获得机器人的外形;再接入驱动电路与锂电池则可以对机器人的运动方式进行控制。具体的,通过改变本体顶部的压电陶瓷片以及压电驱动腿施加不同方向电压,使压电驱动腿不断的产生收缩与伸长变形,实现压电机器人的运动,通过给不同的腿施加电压,可以实现特定方向的位移,本体顶部的压电陶瓷片可以起到对单条腿的位移产生放大作用,通过给三条腿以及顶部陶瓷片同时施加电压可以使机器人产生跳跃运动。
Novel piezoelectric three-legged jumping type robot and control method thereof
一种新型的压电三足可跳跃式机器人及其控制方法
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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