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Development of a type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2020-10-01 , DOI: 10.1109/lra.2020.3018031
Juntian Zhou , Masaki Suzuki , Ryoma Takahashi , Kengo Tanabe , Yuki Nishiyama , Hajime Sugiuchi , Yusuke Maeda , Ohmi Fuchiwaki

We propose a new mobile robot that uses three standing-wave-type ultrasonic motors (USMs). The USMs are composed of two stacked-type piezoelectric actuators. Recently, with the miniaturization of electronic and microelectromechanical system devices and progress in the biomedical sciences, the demand for multifunctional manipulation of chip parts and biomedical cells has increased. Conventional multiaxial stages are too bulky for multifunctional manipulation in which multiple manipulators are required. Using conventional precise mobile robots is feasible for miniaturization of multifunctional manipulation, although their cables influence positioning repeatability. USMs are feasible actuators for realizing cableless robots because their energy efficiency is relatively higher than that of other motors of millimeter scale. The aim of this study is to develop a new type of omnidirectional mobile robot driven by USMs. In experiments, we evaluated the feasibility by investigating velocity, positioning deviation, and achieving repeatability of translational movements under open-loop control. We determine the repeatability as a ratio of the standard deviation of the final points to the average path length. The proposed mobile robot achieves velocities of 18.6–31.4 mm/s and repeatability of 4.1%–9.1% with a 200-g weight.

中文翻译:

三驻波型压电超声波马达驱动型移动机器人的研制

我们提出了一种使用三个驻波型超声波马达 (USM) 的新型移动机器人。USM 由两个堆叠式压电致动器组成。近年来,随着电子和微机电系统设备的小型化以及生物医学科学的进步,对芯片部件和生物医学细胞的多功能操作的需求增加。传统的多轴平台对于需要多个操纵器的多功能操纵来说过于庞大。使用传统的精密移动机器人实现多功能操作的小型化是可行的,尽管它们的电缆会影响定位重复性。USM 是实现无缆机器人的可行执行器,因为它们的能源效率相对高于其他毫米级电机。本研究的目的是开发一种由 USM 驱动的新型全向移动机器人。在实验中,我们通过研究速度、定位偏差以及在开环控制下实现平移运动的可重复性来评估可行性。我们将重复性确定为最终点的标准偏差与平均路径长度的比率。所提出的移动机器人的速度为 18.6-31.4 mm/s,重复性为 4.1%-9.1%,重量为 200-g。
更新日期:2020-10-01
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