Abstract
This paper presents a non-linear, dynamic model of the flexure-based transmission in the Harvard Ambulatory Microrobot (HAMR). The model is derived from first principles and has led to a more comprehensive understanding of the components in this transmission. In particular, an empirical model of the dynamic properties of the compliant Kapton flexures is developed and verified against theoretical results from beam and vibration theory. Furthermore, the fabrication of the piezoelectric bending actuators that drive the transmission is improved to match theoretical performance predictions. The transmission model is validated against experimental data taken on HAMR for the quasi-static (1-10 Hz) operating mode, and is used to redesign the transmission for improved performance in this regime. The model based redesign results in a 266% increase in the work done by the foot when compared to a previous version of HAMR. This leads to a payload capacity of 2.9g, which is ∼ 2× the robot's mass and a 114% increase. Finally, the model is validated in the dynamic regime (40-150 Hz) and the merits of a second order linear approximation are discussed.
| Original language | English (US) |
|---|---|
| Title of host publication | IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4119-4126 |
| Number of pages | 8 |
| Volume | 2015-December |
| ISBN (Electronic) | 9781479999941 |
| DOIs | |
| State | Published - Dec 11 2015 |
| Externally published | Yes |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015 |
Other
| Other | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 |
|---|---|
| Country | Germany |
| City | Hamburg |
| Period | 9/28/15 → 10/2/15 |
Fingerprint
Keywords
- Biologically Inspired Robots
- Compliant Flexures
- Dynamic models
- Legged microrobots
- Piezoeletric actuators
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
Model driven design for flexure-based Microrobots. / Doshi, Neel; Goldberg, Benjamin; Sahai, Ranjana; Jafferis, Noah; Aukes, Daniel; Wood, Robert J.; Paulson, John A.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 4119-4126 7353959.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Model driven design for flexure-based Microrobots
AU - Doshi, Neel
AU - Goldberg, Benjamin
AU - Sahai, Ranjana
AU - Jafferis, Noah
AU - Aukes, Daniel
AU - Wood, Robert J.
AU - Paulson, John A.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - This paper presents a non-linear, dynamic model of the flexure-based transmission in the Harvard Ambulatory Microrobot (HAMR). The model is derived from first principles and has led to a more comprehensive understanding of the components in this transmission. In particular, an empirical model of the dynamic properties of the compliant Kapton flexures is developed and verified against theoretical results from beam and vibration theory. Furthermore, the fabrication of the piezoelectric bending actuators that drive the transmission is improved to match theoretical performance predictions. The transmission model is validated against experimental data taken on HAMR for the quasi-static (1-10 Hz) operating mode, and is used to redesign the transmission for improved performance in this regime. The model based redesign results in a 266% increase in the work done by the foot when compared to a previous version of HAMR. This leads to a payload capacity of 2.9g, which is ∼ 2× the robot's mass and a 114% increase. Finally, the model is validated in the dynamic regime (40-150 Hz) and the merits of a second order linear approximation are discussed.
AB - This paper presents a non-linear, dynamic model of the flexure-based transmission in the Harvard Ambulatory Microrobot (HAMR). The model is derived from first principles and has led to a more comprehensive understanding of the components in this transmission. In particular, an empirical model of the dynamic properties of the compliant Kapton flexures is developed and verified against theoretical results from beam and vibration theory. Furthermore, the fabrication of the piezoelectric bending actuators that drive the transmission is improved to match theoretical performance predictions. The transmission model is validated against experimental data taken on HAMR for the quasi-static (1-10 Hz) operating mode, and is used to redesign the transmission for improved performance in this regime. The model based redesign results in a 266% increase in the work done by the foot when compared to a previous version of HAMR. This leads to a payload capacity of 2.9g, which is ∼ 2× the robot's mass and a 114% increase. Finally, the model is validated in the dynamic regime (40-150 Hz) and the merits of a second order linear approximation are discussed.
KW - Biologically Inspired Robots
KW - Compliant Flexures
KW - Dynamic models
KW - Legged microrobots
KW - Piezoeletric actuators
UR - http://www.scopus.com/inward/record.url?scp=84958176727&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958176727&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353959
DO - 10.1109/IROS.2015.7353959
M3 - Conference contribution
AN - SCOPUS:84958176727
VL - 2015-December
SP - 4119
EP - 4126
BT - IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -