Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

摘要

Miniaturization, fast motion, high resolution, high agility, and good adaptability are relatively contradictory characteristics in mobile robot design. It is indeed a challenge to satisfy these performances at the same time. Inspired by the arthropod metamerism in nature, herein, a millirobot composed of three piezoelectric segments is proposed. The millirobot is tethered for power, and the whole size of the millirobot is 58 × 44 × 12 mm; it uses several principles of arthropod locomotion, can carry loads and cross obstacles, and also has the rapidity and agility like a centipede through the coordination of multiple piezoelectric segments. Fast motion with a maximum speed of 516 mm s −1 is realized by operating at resonant mode, and stepping motion with a resolution of 0.44 μm is achieved by the pulsed sinusoidal mode. The widest speed range among published reports of millirobots is achieved (from 4.5e −3 to 9 BL s −1 ). Its agility surpasses other piezoelectric millirobots; the linear, steering, and rotational motions are performed and switched flexibly. The results show that fast motion, high resolution, wide speed range, high agility, large load capacity, good adaptability, and miniaturization are successfully achieved by the millirobot.