Suche senden
Hochladen
PhD degree
•
1 gefällt mir
•
47 views
hassan hariri
Folgen
Melden
Teilen
Melden
Teilen
1 von 2
Empfohlen
Master degree
Master degree
hassan hariri
Certification of teaching services_FRENCH
Certification of teaching services_FRENCH
hassan hariri
teaching assistant IUT
teaching assistant IUT
hassan hariri
This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages and its gait cycle is described. The robot speed is derived through kinematic modelling and experimentally verified using a fabricated prototype. This result will be important for developing a motion planning control strategy for the robot locomotion, which will be part of future work.
Design and Gait Analysis of a Two-legged Miniature Robot with Piezoelectric-d...
Design and Gait Analysis of a Two-legged Miniature Robot with Piezoelectric-d...
hassan hariri
In small mobile robots, decreasing the number of actuators is usually desirable to reduce the size and weight of the robot, but it is usually at the expense of the robot’s degree of freedom (DOF). This work presents the development and preliminary experimental testing of a novel Legged Piezoelectric Miniature Robot (LPMR) driven only by a single piezoelectric unimorph actuator and yet fully capable of being maneuvered to move forward, turn right, or turn left. The underactuated motion is achieved by exploiting the bending vibration modes disparity of the piezoelectric actuator at different driving frequencies and designing specific positions of the robot’s legs to generate a differential-drive-like mechanism. The speed of the robot can be controlled through regulating the magnitude of the applied voltage. The proposed underactuated system is experimentally verified and a preliminary characterization of the LPMR in terms of its forward and turning speed versus applied voltage and payload is investigated and reported
Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Uni...
Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Uni...
hassan hariri
The design exploits the use of mechanical standing waves generated on the metal beam and transmitted to its legs to propel the LPMR forward and backward where the vibrations of legs are similar to the bounding gait locomotion of animals. In our proposed design, a forward and backward motion in one dimensional axis is determined by the mechanical design and placement of the legs of the LPMR, and two operating frequencies for both directions are selected by the designer as well. By simple change in the driving frequency, both forward and backward motion can be achieved.
A tether-less legged piezoelectric miniature robot for bidirectional motion
A tether-less legged piezoelectric miniature robot for bidirectional motion
hassan hariri
14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015
Miniature Piezoelectric Mobile Robot driven by Standing Wave
Miniature Piezoelectric Mobile Robot driven by Standing Wave
hassan hariri
ulfg.ul.edu.lb_Pages_electrical1
ulfg.ul.edu.lb_Pages_electrical1
hassan hariri
Empfohlen
Master degree
Master degree
hassan hariri
Certification of teaching services_FRENCH
Certification of teaching services_FRENCH
hassan hariri
teaching assistant IUT
teaching assistant IUT
hassan hariri
This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. The unimorph actuator replaces the input link of the four-bar linkage and motion is generated at the coupler link due to the actuator deflection. A dimensional synthesis approach is proposed for the design of four-bar linkage that amplifies the small displacement of the piezoelectric actuator at the coupler link. The robot consists of two such piezo-driven four-bar linkages and its gait cycle is described. The robot speed is derived through kinematic modelling and experimentally verified using a fabricated prototype. This result will be important for developing a motion planning control strategy for the robot locomotion, which will be part of future work.
Design and Gait Analysis of a Two-legged Miniature Robot with Piezoelectric-d...
Design and Gait Analysis of a Two-legged Miniature Robot with Piezoelectric-d...
hassan hariri
In small mobile robots, decreasing the number of actuators is usually desirable to reduce the size and weight of the robot, but it is usually at the expense of the robot’s degree of freedom (DOF). This work presents the development and preliminary experimental testing of a novel Legged Piezoelectric Miniature Robot (LPMR) driven only by a single piezoelectric unimorph actuator and yet fully capable of being maneuvered to move forward, turn right, or turn left. The underactuated motion is achieved by exploiting the bending vibration modes disparity of the piezoelectric actuator at different driving frequencies and designing specific positions of the robot’s legs to generate a differential-drive-like mechanism. The speed of the robot can be controlled through regulating the magnitude of the applied voltage. The proposed underactuated system is experimentally verified and a preliminary characterization of the LPMR in terms of its forward and turning speed versus applied voltage and payload is investigated and reported
Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Uni...
Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Uni...
hassan hariri
The design exploits the use of mechanical standing waves generated on the metal beam and transmitted to its legs to propel the LPMR forward and backward where the vibrations of legs are similar to the bounding gait locomotion of animals. In our proposed design, a forward and backward motion in one dimensional axis is determined by the mechanical design and placement of the legs of the LPMR, and two operating frequencies for both directions are selected by the designer as well. By simple change in the driving frequency, both forward and backward motion can be achieved.
A tether-less legged piezoelectric miniature robot for bidirectional motion
A tether-less legged piezoelectric miniature robot for bidirectional motion
hassan hariri
14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015
Miniature Piezoelectric Mobile Robot driven by Standing Wave
Miniature Piezoelectric Mobile Robot driven by Standing Wave
hassan hariri
ulfg.ul.edu.lb_Pages_electrical1
ulfg.ul.edu.lb_Pages_electrical1
hassan hariri
ulfg.ul.edu.lb_Pages_commontrunk1
ulfg.ul.edu.lb_Pages_commontrunk1
hassan hariri
Master Internship
Master Internship
hassan hariri
video_overview
video_overview
hassan hariri
Design and realization of piezoelectric mobiles for cooperative use
Design and realization of piezoelectric mobiles for cooperative use
hassan hariri
Locomotion principles on a solid substrate for mobile miniature robots includes wheeled, walking, inchworm, inertial drive, resonant drive and friction drive. In liquid, it is divided into locomotion within the liquid or at the surface and they usually mimics animal behaviour. On air, the flapping wing is the most efficient way for propulsion.
Piezoelectric actuation for mobile miniature robot
Piezoelectric actuation for mobile miniature robot
hassan hariri
Modeling and Experimental Study of a Two Modes Excitation Travelling Wave Piezoelectric Miniature Robot
Travelling Wave Piezoelectric Miniature Robot
Travelling Wave Piezoelectric Miniature Robot
hassan hariri
Piezoelectric miniature robot, mimicking biological swarms, modeling by the finite element method, the theory of thin plates asymmetric, linear traveling wave ultrasonic motors
Abstract these hariri_hassan
Abstract these hariri_hassan
hassan hariri
matériaux piézoélectriques, mini robots aquatiques et aériens, conception mécatronique, stage master 2 et/ou école d'ingénieur, Laboratoire de Génie Électrique de Paris (LGEP)
Realisation d'un mini robot piézoélectrique aquatique et aerien
Realisation d'un mini robot piézoélectrique aquatique et aerien
hassan hariri
Weitere ähnliche Inhalte
Mehr von hassan hariri
ulfg.ul.edu.lb_Pages_commontrunk1
ulfg.ul.edu.lb_Pages_commontrunk1
hassan hariri
Master Internship
Master Internship
hassan hariri
video_overview
video_overview
hassan hariri
Design and realization of piezoelectric mobiles for cooperative use
Design and realization of piezoelectric mobiles for cooperative use
hassan hariri
Locomotion principles on a solid substrate for mobile miniature robots includes wheeled, walking, inchworm, inertial drive, resonant drive and friction drive. In liquid, it is divided into locomotion within the liquid or at the surface and they usually mimics animal behaviour. On air, the flapping wing is the most efficient way for propulsion.
Piezoelectric actuation for mobile miniature robot
Piezoelectric actuation for mobile miniature robot
hassan hariri
Modeling and Experimental Study of a Two Modes Excitation Travelling Wave Piezoelectric Miniature Robot
Travelling Wave Piezoelectric Miniature Robot
Travelling Wave Piezoelectric Miniature Robot
hassan hariri
Piezoelectric miniature robot, mimicking biological swarms, modeling by the finite element method, the theory of thin plates asymmetric, linear traveling wave ultrasonic motors
Abstract these hariri_hassan
Abstract these hariri_hassan
hassan hariri
matériaux piézoélectriques, mini robots aquatiques et aériens, conception mécatronique, stage master 2 et/ou école d'ingénieur, Laboratoire de Génie Électrique de Paris (LGEP)
Realisation d'un mini robot piézoélectrique aquatique et aerien
Realisation d'un mini robot piézoélectrique aquatique et aerien
hassan hariri
Mehr von hassan hariri
(8)
ulfg.ul.edu.lb_Pages_commontrunk1
ulfg.ul.edu.lb_Pages_commontrunk1
Master Internship
Master Internship
video_overview
video_overview
Design and realization of piezoelectric mobiles for cooperative use
Design and realization of piezoelectric mobiles for cooperative use
Piezoelectric actuation for mobile miniature robot
Piezoelectric actuation for mobile miniature robot
Travelling Wave Piezoelectric Miniature Robot
Travelling Wave Piezoelectric Miniature Robot
Abstract these hariri_hassan
Abstract these hariri_hassan
Realisation d'un mini robot piézoélectrique aquatique et aerien
Realisation d'un mini robot piézoélectrique aquatique et aerien
