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- W2358967609 abstract "A PZT(piezoelectric ceramic)-driven electromagnetic miniature robot which could fulfill the requirement of large range,high precision and omni-direction in a desktop factory was presented.With the cooperation of two electromagnets,the robot was able to move forward/backward,turn left/right,and rotate around its own center based on the stick-and-slip motion principle.On the assumption that the two parallel-setup piezoelectric actuators maintain parallel to each other in one step motion,coordinates of the four standing legs were analyzed,resulting in a locomotive differential model to reflect position and orientation changes.The calculated results showed that the maximum step length in rectilinear movement was 0.042 0 mm,while the maximum step degree in rotary movement was 0.185°/step.Experimental results of open loop trajectory control,point-to-point pose control and closed-loop path following control proved the effectiveness of the miniature robot when used in a desktop factory." @default.
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- W2358967609 date "2011-01-01" @default.
- W2358967609 modified "2023-09-24" @default.
- W2358967609 title "Locomotion Analysis and Simulation of Piezo-Driven Miniature Robot" @default.
- W2358967609 hasPublicationYear "2011" @default.
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