标题：
A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect
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所属单位：
航空学院
发表刊物：
SMART MATERIALS AND STRUCTURES
关键字：
traveling wave piezoelectric transducer friction effect tracked mobile robot experimental investigations
摘要：
A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 V-pp is able to achieve a maximum velocity of 57 mm s(-1) moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.
ISSN号：
0964-1726
是否译文：
否
发表时间：
2017-03-01
合写作者：
王亮,舒承有
通讯作者：
金家楣
发表时间：
2017-03-01
学位：工学博士学位
职称：教授
所在单位：航空学院