Motion of a Miniature Robot Using Three Piezoelectric Elements Controlled by Rectangular Voltage

Akihiro Torii; Yoshiyuki Fukaya; Kae Doki; Akiteru Ueda

doi:10.20965/jrm.2003.p0602

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JRM Vol.15 No.6 pp. 602-608

doi: 10.20965/jrm.2003.p0602

(2003)

Paper:

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Motion of a Miniature Robot Using Three Piezoelectric Elements Controlled by Rectangular Voltage

Akihiro Torii, Yoshiyuki Fukaya, Kae Doki, and Akiteru Ueda

Dept. of Electrical Engineering, Aichi Institute of Technology Yakusa-cho, Toyota 470-0392, Japan

Received:

August 8, 2003

Accepted:

October 10, 2003

Published:

December 20, 2003

Keywords:

miniature robot, piezo, rotational displacement

Abstract

The authors report the motion of a miniature three-legged robot consisting of three piezoelectric elements operated by rectangular voltage. The small leg displacement is measured precisely by three optical sensors. We detail the relationship between leg motion legs and control signals applied to piezoelectric elements. The robot rotates in the CW and CCW directions, yielding interesting results. Step displacement is synchronized with control waveforms.

Cite this article as:

A. Torii, Y. Fukaya, K. Doki, and A. Ueda, “Motion of a Miniature Robot Using Three Piezoelectric Elements Controlled by Rectangular Voltage,” J. Robot. Mechatron., Vol.15 No.6, pp. 602-608, 2003.

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