2D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

Hassan Hariri (1) , Yves Bernard (1) , Adel Razek (1)

1 GeePs - Laboratoire Génie électrique et électronique de Paris

—In this paper, a concept design of a novel Traveling Wave Driven Piezoelectric Plate Robot (TWDPPR) for planar motion is presented. The TWDPPR consists of an aluminium plate structure, with four non-collocated piezoelectric patches bonded on its surface. A two dimensions modeling of non-collocated piezoelectric patches bonded on thin structures developed and validated in previous work is used in this paper to model the TWDPPR based on the " two modes excitation " method for propulsion. A preliminary design is presented and the model is then used to verify the generation of the 2D traveling wave on the plate for planar motion. A prototype is fabricated and a forward, backward, & steering motions are experimentally achieved. An experimental characterization of the TWDPPR is given in this paper.

Mots clés: finite element modeling; 2D traveling wave; two modes excitation; Index Terms—Piezoelectric robot

Domaines: Sciences de l'ingénieur [physics]; Energie électrique

Hassan Hariri, Yves Bernard, Adel Razek. 2D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion. IEEE/ASME Transactions on Mechatronics, 2018, 23 (1), pp.242 - 251. ⟨10.1109/TMECH.2018.2791508⟩. ⟨hal-01705415⟩