一種基于壓電驅(qū)動的微型水陸兩棲爬行機器人

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中圖分類號：TH122 文獻標志碼：A 文章編號：1673-2340（2025）02-0064-06

A miniature amphibious crawling robot driven by piezoelectric actuator

WANG Le ，WANG Xin2 ，F(xiàn)EI Senjiel，YANQiufeng3

（1.SchoolofIntellgentManufacturingandElevator，HuzhouVocationalandTechnicalCollege，Huzhou 3l3o99，China; 2.Huzhou Institute of ZhejiangUniversity，Huzhou 3l3o99，China; 3.School of Electrical Engineeringand Automation，Nantong University，Nantong 226ol9，China）

Abstract：Toaddressthe limitation of single-mode motion in micro piezoelectric robots，this study proposes apiezoelectric-drivenmicro amphibious crawling robot.Therobotutilizes the inverse piezoelectric efectof piezoelectricceramics to excite multiple vibration modes of its body，enabling bothterestrial crawlingviacontact frictionand aquatic swimming via jet flow，thus achieving amphibious locomotion.A compact structure driven bya single-phase excitation signal alows dual-mode motionon land and in water.Finite element modeling wasconducted using Ansys l9.0 to analyze the robot'sstructural design，operating principle，and optimal working modes.Aprototype was fabricated and experimentally tested.At a driving frequency of 17.0kHz and a peak -to-peak voltage of 100V ，therobot achieved a maximum crawling speed of 130mm/s ，equivalent to 6.5 body lengthsper second.At 227.0kHz and the same voltage，its average swimming speed on the water surface reached 50mm/s ，or 2.5 body lengths per second. The consistency between simulationandexperimentalresultsverifiesthe feasibilityof theproposed structural designand confirms the validity of the operating principle.

Key words：micro robot; crawling robot; piezoelectricity;vibration modes; jet flow;amphibious locomotion

微型機器人憑借其體積小、質(zhì)量輕、運動靈活等特點，在檢測、救援、偵察、醫(yī)療等領(lǐng)域展現(xiàn)出廣闊的應(yīng)用前景[1-5]。（剩余9439字）