Locomotion of a miniature robot based on synchronized vibrating actuation mechanisms

摘要

A new principle for controlled motion of microrobots is briefly described. A controlled vibrating floor allows further miniaturization of each robot by providing additional vertical force to compensate for a reduction of the force available on the three piezo-ceramic legs of each robot due to space constraints. Displacement is only achieved when a miniature robot activates its piezo-legs providing the additional required lift for controlled directional motion. Preliminary experimental data show that such a platform is already capable to perform displacements. Our first prototypes demonstrated a maximum displacement rate of 1.7 mm/s when the robot moved by itself using its three legs and 14 mm/s when the robot is being assisted by the vibrating surface.