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- W2766897712 abstract "This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages and its gait cycle is described. The robot speed is derived through kinematic modelling and experimentally verified using a fabricated prototype. This result will be important for developing a motion planning control strategy for the robot locomotion, which will be part of future work." @default.
- W2766897712 created "2017-11-10" @default.
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- W2766897712 date "2017-08-06" @default.
- W2766897712 modified "2023-09-26" @default.
- W2766897712 title "Design and Gait Analysis of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage" @default.
- W2766897712 doi "https://doi.org/10.1115/detc2017-67267" @default.
- W2766897712 hasPublicationYear "2017" @default.
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