Piezoelectric Sensing for Seamless Motion in Mobile Robotics

Abstract

Piezoelectric materials are important in mobile robotics, service sensing, actuation, energy harvesting, and vibration control applications. This paper introduces a sophisticated framework for piezoelectric based motion design for mesoscale mobile robots. Utilizing a custom-designed mechanism, it amplifies piezoelectric forces and transmits them through a sliding mechanism to extend the flow rate of the material. Unlike traditional sliding and planting methods, this design eliminates the idea of crashing and expands the robot’s ability to cover terrain. Our paper includes motion strategies, kinematic modelling, mechanical optimization, and control strategies for mesoscale robots, providing details on their development and potential applications in mobile robotics. Also, piezoelectric energy harvesting devices provide the ability to remove ambient energy from vibration and mechanical deformation, increasing mobile robot autonomy and durability, and they can be used in vibration control systems to dampen oscillations and unwanted vibration. The integration of materials holds great promise to improve the capability, efficiency, and autonomy of robotic systems in applications ranging from detection and monitoring to healthcare.