A Biomimetic Earthworm-Like Micro Robot Using Nut-Type Piezoelectric Motor

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• 作者：Maoying Zhou (23)
  Yuebang Tao (23)
  Liling Cheng (24)
  Wei-ting Liu (23)
  Xin Fu (23)
  
• 关键词：earthworm ; anchoring ; advancing principle ; piezoelectric actuator ; locomotion ; micro robot
• 刊名：Lecture Notes in Computer Science
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：8102
• 期：1
• 页码：136-144
• 全文大小：559KB
• 参考文献：1. Menciassi, A., Gorini, S., Pernorio, G., Dario, P.: A SMA Actuated Artificial Earthworm. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, vol.?4, pp. 3282-287. IEEE Press, New York (2004)
  2. Kim, B., Lee, M.G., Lee, Y.P., Kim, Y., Lee, G.: An Earthworm-like Micro Robot Using Shape Memory Alloy Actuator. Sensors and Actuators A: Physical?125(2), 429-37 (2006) CrossRef
  3. Kim, B., Ryu, J., Jeong, Y., Tak, Y., Kim, B., Park, J.O.: A Ciliary Based 8-legged Walking Micro Robot Using Cast IPMC Actuators. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation, vol.?3, pp. 2940-945. IEEE Press, New York (2003) CrossRef
  4. Kim, B., Park, S., Jee, C.Y., Yoon, S.J.: An Earthworm-like Locomotive Mechanism for Capsule Endoscopes. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2997-002. IEEE Press, New York (2005)
  5. Henderson, D.A.: Simple Ceramic Motor... Inspiring Smaller Products. Stroke (mm)?50, 10 (2006)
  6. Wikipedia, http://en.wikipedia.org/wiki/Earthworm
  7. Quillin, K.J.: Kinematic Scaling of Locomotion by Hydrostatic Animals: Ontogeny of Peristaltic Crawling by the Earthworm Lumbricus Terrestris. Journal of Experimental Biology?202(6), 661-74 (1999)
  
• 作者单位：Maoying Zhou (23)
  Yuebang Tao (23)
  Liling Cheng (24)
  Wei-ting Liu (23)
  Xin Fu (23)
  
  23. The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Zheda Rd. 38, 310027, Hangzhou, China
  24. Zhejiang Academy of Science and Technology for Inspection and Quarantine, East Fengqi Rd. 99, 310020, Hangzhou, China
  

文摘

By investigating the biological locomotion mechanism of natural earthworms, an anchoring-advancing principle has been proposed and a new prototype of micro earthworm-like robots has been designed, fabricated and tested. A miniature piezoelectric linear stepper motor is introduced into the robot actuation. Specialized micro needles are boned to the robot serving as the anchoring points. The prototype dimension is 4.8mm×6.0mm×14.0mm. Preliminary tests have shown the effectiveness of the proposed locomotion principle with demonstration of the maximum characteristic speed of the prototype as approximately 0.36 body length per second, which is better than its natural counterpart. Fair climbing capability of the robot is also validated. Some factors such as surface roughness and hardness are found relevant to the locomotive performance of the robot. Speed and position control of the robot is easily achieved thanks to high accuracy controller.