A Similarity Method for Miniature Mobile Robots

[+] Author and Article Information
T. S. Liu, J. Y. Lee

Department of Mechanical Engineering, National Chiao Tung University, Hsinchu 30010, Taiwan

J. Dyn. Sys., Meas., Control 120(1), 15-21 (Mar 01, 1998) (7 pages) doi:10.1115/1.2801315 History: Received July 12, 1995; Online December 03, 2007


Taking advantage of a piezoelectric material to fabricate miniature mobile robots, this study presents a similarity method, fabrication process, and walking experiment method. A curved piezoelectric material is first analyzed for vibration behavior in order to provide a basis for deriving model laws. Since the behavior of miniature mobile robots is not amenable to modeling, the similarity method is carried out to obtain model laws. A prototype for the miniature robot is further scaled down in different geometric sizes to conduct walking experiments. Experimental results that are primarily concerned with walking speeds comparison among robots of different sizes serve to verify model laws.

Copyright © 1998 by The American Society of Mechanical Engineers
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