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针对微型压电机器人运动模式单一的问题，本研究提出一种基于压电驱动的微型水陆两栖爬行机器人。该机器人通过压电陶瓷的逆压电效应激发机器人躯干的多种振动模态，分别利用接触摩擦和射流实现地面爬行和水面游动，从而具备两栖运动能力。该机器人采用单相激励信号驱动，通过紧凑型结构设计即可实现地面和水中的双重运动功能。基于有限元分析软件Ansys 19.0建立了机器人有限元模型，对其结构设计和工作原理进行了系统分析，并确定了最优工作模态。然后制作了机器人原理样机并进行性能测试，结果表明：在驱动频率为17.0 kHz、电压（峰-峰值）为100 V的条件下，机器人最大爬行速度可达130 mm/s，相当于6.5倍体长每秒；在驱动频率为227.0 kHz、电压（峰-峰值）为100 V的条件下，机器人水面平均运动速度为50 mm/s，达到2.5倍体长每秒。有限元仿真与实验测试结果的一致性验证了所提机器人结构设计的可行性和工作原理的正确性。
Abstract：To address the limitation of single-mode motion in micro piezoelectric robots, this study proposes a piezoelectric-driven micro amphibious crawling robot. The robot utilizes the inverse piezoelectric effect of piezoelectric ceramics to excite multiple vibration modes of its body, enabling both terrestrial crawling via contact friction and aquatic swimming via jet flow, thus achieving amphibious locomotion. A compact structure driven by a single-phase excitation signal allows dual-mode motion on land and in water. Finite element modeling was conducted using Ansys 19.0to analyze the robot′s structural design, operating principle, and optimal working modes. A prototype was fabricated and experimentally tested. At a driving frequency of 17.0 kHz and a peak-to-peak voltage of 100 V, the robot achieved a maximum crawling speed of 130 mm/s, equivalent to 6.5 body lengths per second. At 227.0 kHz and the same voltage, its average swimming speed on the water surface reached 50 mm/s, or 2.5 body lengths per second. The consistency between simulation and experimental results verifies the feasibility of the proposed structural design and confirms the validity of the operating principle.
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基本信息:
DOI：10.12194/j.ntu.20241229001
中图分类号:TP242
引用信息:
[1]王乐,王欣,费森杰等.一种基于压电驱动的微型水陆两栖爬行机器人[J].南通大学学报(自然科学版),2025,24(02):64-69.DOI:10.12194/j.ntu.20241229001.
基金信息:
浙江省教育厅一般科研项目（Y202352861）; 湖州职业技术学院高层次人才专项课题（2023TS06）