Modeling and Control of Mobile Robot Driven by PZT
Speaker:Prof. Shaoze Yan
Ph.D., Full Professor
Vice Director of Mechanical Design Institute
Vice Director of Intelligent and Biomechanical Engineering
Department, The State Key Laboratory of Tribology
Department of Precision Engineering
Tsinghua University, P.R. China
Date & Time:28 Jul 2011 (Thursday) 16:00 - 17:30
Organized by:Department of Electromechanical Engineering


A novel miniature-step mobile robot with three degrees of freedom (DOFs) is developed based on the inchworm principle. This device, driven by a piezo stack actuator, utilizes a rhombic flexure hinge mechanism and four electromagnetic legs to achieve large stroke translation and rotation with high resolution on a platform. The design process of the rhombic flexible frame and the electromagnetic legs is described. The electric circuits for generating appropriate voltage signals are designed to control the legs to clamp to and release from the platform. In order to investigate the motion characteristics of the device, a series of experiments were carried out. The experimental results confirm that the device is capable of performing a 3-DOFs motion with a high resolution on a platform. Furthermore, the platform loading capacity allows some additional devices like a gripper or any other device for a particular application to be mounted on board. This enables the device's potential in a wide variety of applications.


Shaoze Yan received his B. Sc., M. Sc. and Ph.D. from Tianjin University in 1987, 1990, and 1996, respectively. He was a Posdoc Fellow and senior engineer in Missile Research Institute of China from 1996-1998. He was appointed as an Associate Professor by Tsinghua University in 1999, thereafter became Full Professor in Tsinghua University in 2007. He was visiting scholar in MIT from 2007-2008. Prof. Yan has published over 100 papers in academic field. He is a council member of Chinese Vibration Society.