Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation
Micromanipulation robots are powerful tools to explore and reform the microscope world, but it is difficult to integrate high precision, long stroke, strong carrying capability, and multi‐degree of freedom (DOF) motions in a single robot. To address this challenge, herein a bioinspired hexapod piezo...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-03-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202100142 |
| _version_ | 1819157933347307520 |
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| author | Hongpeng Yu Yingxiang Liu Jie Deng Jing Li Shijing Zhang Weishan Chen Jie Zhao |
| author_facet | Hongpeng Yu Yingxiang Liu Jie Deng Jing Li Shijing Zhang Weishan Chen Jie Zhao |
| author_sort | Hongpeng Yu |
| collection | DOAJ |
| description | Micromanipulation robots are powerful tools to explore and reform the microscope world, but it is difficult to integrate high precision, long stroke, strong carrying capability, and multi‐degree of freedom (DOF) motions in a single robot. To address this challenge, herein a bioinspired hexapod piezoelectric robot (PER‐hexapod) aiming at high‐performance micromanipulation is presented. Specifically, two piezoelectric elements are integrated in a functional module to provide 3‐DOF precise motions, the collaboration of six functional modules generates the multi‐DOF motions, and the multimode fusion of three gaits facilitates the cross‐scale motion. The robot outputs 6‐DOF motions with resolutions higher than 4 nm or 0.2 μrad, and unlimited traveling ranges of in‐plane motions are accomplished. PER‐hexapod, whose weight is 0.45 kg, can stably drive a carrying load of 10 kg. In addition, PER‐hexapod realizes the accurate positioning with the root‐mean‐square error less than 5 nm. Thus, it has potential applications in the precise positioning in a large range, such as the batch injection of multiple cells and micromachining on large surfaces. Not only PER‐hexapod, but many other robots can be also designed with the same philosophy to construct micromanipulation systems for various requirements. |
| first_indexed | 2024-12-22T16:16:38Z |
| format | Article |
| id | doaj.art-d60e7e39150247269ae858e735a69a01 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-12-22T16:16:38Z |
| publishDate | 2022-03-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-d60e7e39150247269ae858e735a69a012022-12-21T18:20:22ZengWileyAdvanced Intelligent Systems2640-45672022-03-0143n/an/a10.1002/aisy.202100142Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance MicromanipulationHongpeng Yu0Yingxiang Liu1Jie Deng2Jing Li3Shijing Zhang4Weishan Chen5Jie Zhao6State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaMicromanipulation robots are powerful tools to explore and reform the microscope world, but it is difficult to integrate high precision, long stroke, strong carrying capability, and multi‐degree of freedom (DOF) motions in a single robot. To address this challenge, herein a bioinspired hexapod piezoelectric robot (PER‐hexapod) aiming at high‐performance micromanipulation is presented. Specifically, two piezoelectric elements are integrated in a functional module to provide 3‐DOF precise motions, the collaboration of six functional modules generates the multi‐DOF motions, and the multimode fusion of three gaits facilitates the cross‐scale motion. The robot outputs 6‐DOF motions with resolutions higher than 4 nm or 0.2 μrad, and unlimited traveling ranges of in‐plane motions are accomplished. PER‐hexapod, whose weight is 0.45 kg, can stably drive a carrying load of 10 kg. In addition, PER‐hexapod realizes the accurate positioning with the root‐mean‐square error less than 5 nm. Thus, it has potential applications in the precise positioning in a large range, such as the batch injection of multiple cells and micromachining on large surfaces. Not only PER‐hexapod, but many other robots can be also designed with the same philosophy to construct micromanipulation systems for various requirements.https://doi.org/10.1002/aisy.202100142bioinspired design philosophycollaborative operationfunctional moduleshigh-performance micromanipulationmultimode fusionpiezoelectric robots |
| spellingShingle | Hongpeng Yu Yingxiang Liu Jie Deng Jing Li Shijing Zhang Weishan Chen Jie Zhao Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation Advanced Intelligent Systems bioinspired design philosophy collaborative operation functional modules high-performance micromanipulation multimode fusion piezoelectric robots |
| title | Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation |
| title_full | Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation |
| title_fullStr | Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation |
| title_full_unstemmed | Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation |
| title_short | Bioinspired Multilegged Piezoelectric Robot: The Design Philosophy Aiming at High‐Performance Micromanipulation |
| title_sort | bioinspired multilegged piezoelectric robot the design philosophy aiming at high performance micromanipulation |
| topic | bioinspired design philosophy collaborative operation functional modules high-performance micromanipulation multimode fusion piezoelectric robots |
| url | https://doi.org/10.1002/aisy.202100142 |
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