Design And Fabrication Of Bionic Ant Robot Based On Piezoelectric Actuation

By using bionic technology and applications of new materials and processes,micro mobile robot has gradually become more and more popular in the field of robotics.The paper discusses the research on bionic ant robot based on piezoelectric actuation,and this research contains several subjects,such as bionics technology,kinematics,dynamics,mechanism design,micro-drive technology,micro-control technology,micro-processing technology and micro-energy system.And the ant robot has an innovative structure design.The paper focuses on the research of structure design,flexure design,and dynamic model,optimization of piezoelectric actuator,micromachining,testing system platform and experimental study.Firstly,the paper completes structure design of individual motion segment and flexible backbone of bionic ant robot based on ant movement mechanism.3D model and dynamic model have been used to analyze how the ant robot walks stably.And this has laid a good foundation for the further study.Secondly,structure design and optimization of bimorph piezoelectric actuator also has been finished.Then,processing technology study of micro bionic hexapod robot has been completed base on MEMS process.Finally,the paper builds a testing system platform to carry out experiment research on the piezoelectric actuator and analyze its influence on the whole robot.The paper provides a novel method for the research on micro bionic hexapod robot,and the design of individual motion segment and flexible backbone has important significance for the further research.