Sub-Gram In-Plane Vibration-Driven Robot with Inclined Legs

Abstract

This document reports the design, fabrication and performance of miniaturized locomotion systems employing flexible materials and 3D printed legs. The movement of the system was achieved by the first extensional mode of vibration of the platform of the robot and the inclination of the supporting legs. The structures were manufactured using a 30-mm-long piezoelectric polyvinylidene fluoride (PVDF) film as the robot platform, with manually added legs fabricated by stereolithography (SLA). Several speed measurements were performed for samples of 1- and 2-mm-long legs, at an angle of inclination of 45° and 60° to the PVDF film. The system was able to exceed a speed of 1 BL/s (body-lengths per second) to 25 V.