Vibration-Induced-Flow Mechanism and Its Application in Water Surface Robot.

Vibration is a common strategy for aquatic organisms to achieve their life activities, especially at the air-water interface. For the locomotion of small creatures, the organs with plate features are often used on water surfaces, which inspires relevant studies about using thin plates for robot propulsions. However, the influence of the general deformations of thin plates on the generated flow fields has not been considered. Here, a comprehensive investigation is conducted about the flow fields that arose by vibrations of thin plates and the potential as locomotion strategies are explored. It is discovered that as thin plates are subjected to vibration excitations on the water surface, the produced flow fields are mainly determined by the vibration shapes, and the influence rules of plate deformations on the flow fields are identified. The main factors producing asymmetric flow fields are analyzed to realize the morphology control of the flow fields. Then, to determine effective locomotion strategies on the water surface, the flow fields stimulated by integrated vibration exciters are explored, and 2 water surface robots are developed consequentially, which exhibit superior motion performance. This work reveals the basic rules of the vibration-induced-flow mechanism by thin plates and establishes new locomotion strategies for aquatic robots.

Suppression of the height deviation on metal bumps manufacturing by an ultrasonic vibration control.

On-demand droplet printing based on piezoelectric micro-jet device (PMJD) is considered a flexible and high-precision method to generate metal droplets directly for flip-chip bonding in industrial electronics. However, the quality of flip-chip bonding is closely related to the height deviation of the solidified droplets (the metal bumps), which is influenced by the complicated hydrodynamics of impacting and oscillation of the droplet with oxide film. Here, the numerical and experimental investigations are first conducted to study the effect of the liquid bridge and deposition parameters on the height deviation of the solidified droplets. The rapid oxidation of the liquid bridge and under-oscillation during the deposition process are the main reasons for height deviation. In addition, the undamped oscillation with high-speed impact and instantaneous solidification also deteriorates the height deviation. To this end, an oscillation control strategy based on ultrasonic-assisted metal droplet deposition (UAMDD) is proposed and verified to be a reliable regulation strategy to suppress the height deviation of the printed bumps. The effective regulating range of height deviation is studied experimentally by changing the ultrasonic vibration amplitude. Finally, a 10 × 10 array composed of 100 solidified metal droplets is printed with the UAMDD, which has the height deviation of 554 ± 6 µm. And the dimensionless height deviation (Δh/h) of solidified bumps is stayed below 2.1 %.

Investigations into wetting and spreading behaviors of impacting metal droplet under ultrasonic vibration control.

Ultrasonic-assisted metal droplet deposition (UAMDD) is currently considered a promising technology in droplet-based 3D printing due to its capability to change the wetting and spreading behaviors at the droplet-substrate interface. However, the involved contact dynamics during impacting droplet deposition, particularly the complex physical interaction and metallurgical reaction of induced wetting-spreading-solidification by the external energy, remain unclear to date, which hinders the quantitative prediction and regulation of the microstructures and bonding property of the UAMDD bumps. Here, the wettability of the impacting metal droplet ejected by a piezoelectric micro-jet device (PMJD) on non-wetting and wetting ultrasonic vibration substrates is studied, and the corresponding spreading diameter, contact angle, and bonding strength are also discussed. For the non-wetting substrate, the wettability of the droplet can be significantly increased due to the extrusion of the vibration substrate and the momentum transfer layer at the droplet-substrate interface. And the wettability of the droplet on a wetting substrate is increased at a lower vibration amplitude, which is driven by the momentum transfer layer and the capillary waves at the liquid-vapor interface. Moreover, the effects of the ultrasonic amplitude on the droplet spreading are studied under the resonant frequency of 18.2-18.4 kHz. Compared to deposit droplets on a static substrate, such UAMDD has 31% and 2.1% increments in the spreading diameters for the non-wetting and wetting systems, and the corresponding adhesion tangential forces are increased by 3.85 and 5.59 times.

Piezo robotic hand for motion manipulation from micro to macro.

Multiple degrees of freedom (DOFs) motion manipulation of various objects is a crucial skill for robotic systems, which relies on various robotic hands. However, traditional robotic hands suffer from problems of low manipulation accuracy, poor electromagnetic compatibility and complex system due to limitations in structures, principles and transmissions. Here we present a direct-drive rigid piezo robotic hand (PRH) constructed on functional piezoelectric ceramic. Our PRH holds four piezo fingers and twelve motion DOFs. It achieves high adaptability motion manipulation of ten objects employing pre-planned functionalized hand gestures, manipulating plates to achieve 2L (linear) and 1R (rotary) motions, cylindrical objects to generate 1L and 1R motions and spherical objects to produce 3R motions. It holds promising prospects in constructing multi-DOF ultra-precision manipulation devices, and an integrated system of our PRH is developed to implement several applications. This work provides a new direction to develop robotic hand for multi-DOF motion manipulation from micro scale to macro scale.

Miniature Amphibious Robot Actuated by Rigid-Flexible Hybrid Vibration Modules.

Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi-locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration-driven locomotion mechanism is developed. The robot has two unique rigid-flexible hybrid modules (RFH-modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration-induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s-1 on ground and 171 mm s-1 on water. The robot, actuated by the RFH-modules based on vibration-driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.

A Rotary Traveling Wave Ultrasonic Motor With Four Groups of Nested PZT Ceramics: Design and Performance Evaluation.

This study proposes a rotary traveling wave ultrasonic motor utilizing the B (0, 5) axial bending mode of a ring-shaped stator. The proposed motor had a compact structure as only four groups of piezoelectric (PZT) ceramics were nested into the stator to produce a bending traveling wave, a new design method was proposed utilized less PZT ceramics to reduce the volume and to improve the mechanical output characteristics. The operating principle of the proposed motor was illustrated. The finite element analysis was performed to obtain the vibration modes and the motion trajectories of the stator. A prototype was manufactured to validate the operating principle. The two standing waves and the motion trajectories of the driving tips were measured. The results denoted that this motor obtained an output speed of 53.86 r/min under a preload of 0.69 N when the frequency and voltage were 24.86 kHz and 250 Vp-p, the maximum stall torque was tested as about [Formula: see text] under the preload of 3.14 N. Finally, this study was compared with a previous design and it was found that the volume was reduced markedly; furthermore, the no-load speed, the efficiency, the torque density and the power density were improved significantly.

An experiment study on temperature characteristics of a linear ultrasonic motor using longitudinal transducers.

The temperature characteristics of a T-shaped linear ultrasonic motor using longitudinal vibration transducers are reported. When the ultrasonic motor is excited by different voltages, the surface temperatures at the driving foot, PZT ceramic and end cap are tested by a thermal imager for obtaining the thermal characteristics of the motor under no-load condition. PZT ceramic shows the maximum temperature increase. Then, the variations of resonant frequencies, electromechanical coupling factors and mechanical Q-factors versus time, as well as the effect of the temperature on the resonance frequencies, electromechanical coupling factors and mechanical Q-factors, is measured and analysed under the long-term running. It is found that all the resonance frequencies and electromechanical coupling factors decrease as the increase of the temperature, as well as the mechanical Q-factors. In addition, the change of the output speed over temperature is tested and the obtained result shows the trend of decline. This work can provide useful guidelines for the design and optimization of linear ultrasonic motor operating in wide temperature range.

A Four-Feet Walking-Type Rotary Piezoelectric Actuator with Minute Step Motion.

A four-feet walking-type rotary piezoelectric actuator with minute step motion was proposed. The proposed actuator used the rectangular motions of four driving feet to push the rotor step-by-step; this operating principle was different with the previous non-resonant actuators using direct-driving, inertial-driving, and inchworm-type mechanisms. The mechanism of the proposed actuator was discussed in detail. Transient analyses were accomplished by ANSYS software to simulate the motion trajectory of the driving foot and to find the response characteristics. A prototype was manufactured to verify the mechanism and to test the mechanical characteristics. A minimum resolution of 0.095 μrad and a maximum torque of 49 N·mm were achieved by the prototype, and the output speed was varied by changing the driving voltage and working frequency. This work provides a new mechanism for the design of a rotary piezoelectric actuator with minute step motion.

A novel single-mode linear piezoelectric ultrasonic motor based on asymmetric structure.

A novel single-mode linear piezoelectric ultrasonic motor based on asymmetric structure is proposed. The motor adopts the combination of the first longitudinal vibration and the asymmetric mechanical structure to produce the oblique movement on the driving foot; then, the linear output motion is obtained under the friction coupling between the driving foot and the runner. The motor is designed and its operation principle is illustrated in detail. The transient analysis is developed to verify the formed movement on the driving foot. A prototype is manufactured and its vibration characteristics are measured by a scanning laser Doppler vibrometer. An experimental system is established and the output performances of the motor are tested and discussed. The results indicate that the maximal no-load velocity of the motor is about 127.31 mm/s under the voltage of 150 Vp-p and the preload of 30 N. The maximum thrust force is about 2.8 N when the voltage and preload are 150 Vp-p and 40 N. The related works in this paper has verified the feasibility of the proposed single-mode ultrasonic motor based on asymmetric structure.

Development of a bi-directional standing wave linear piezoelectric actuator with four driving feet.

A bi-directional standing wave linear piezoelectric ultrasonic actuator with four driving feet is proposed in this work. Two sandwich type transducers operated in longitudinal-bending hybrid modes are set parallelly. The working mode of the transducer is not simple hybrid vibrations of a longitudinal one and a bending one, but a special coupling vibration mode contained both longitudinal and bending components. Two transducers with the same structure and unsymmetrical boundary conditions are set parallelly to accomplish the bi-directional driving: the first transducer can push the runner forward, while the other one produces the backward driving. In the experiments, two voltages with different amplitudes are applied on the two transducers, respectively: the one with higher voltage serves as the actuator, whereas the other one applied with lower voltage is used to reduce the frictional force. The prototype achieves maximum no-load speed and thrust force of 244 mm/s and 9.8 N. This work gives a new idea for the construction of standing wave piezoelectric ultrasonic actuator with bi-directional driving ability.

A ring-type multi-DOF ultrasonic motor with four feet driving consistently.

A new type of multiple-degree-of-freedom (multi-DOF) ultrasonic motor was developed aiming at high output torque and compact structure. To reach this purpose, a ring type composite stator was proposed with four driving feet uniformly arranged in the inner circumference of the ring stator. The stator employs two orthogonal axial bending modes and a radial bending mode, by exciting two of them simultaneously, to generate elliptic trajectories on driving feet tips and to push sphere rotor around x, y and z axis respectively. Based on the deduced criteria, a specific combination of the A(0,5) axial bending modes and R(0,2) radial bending mode were chosen to realize that the rotating directions of the elliptical driving trajectories on four feet tips can push the sphere rotor to spin in the same direction consistently, thus the efficiency and output performance will be improved by decreasing the slip between feet and rotor. FEM was used to design the motor including selecting key parameters to tune the resonant frequencies by sensitivity analysis, and a prototype was fabricated and tested. The experiment results showed that the maximum output torque of the motor is 0.118Nm and the maximum speed is 55r/min.

Influences of Excitation on Dynamic Characteristics of Piezoelectric Micro-Jets.

Piezoelectric micro-jets are based on piezoelectric ink-jet technology and can achieve the drop-on demand requirements. A piezoelectric micro-jet which is designed for bearing lubrication is presented in this paper. In order to analyze the fluid dynamic characteristics of the piezoelectric micro-jet so as to obtain good injection performance, a direct coupling simulation method is proposed in this paper. The effects of inlet and viscous losses in the cavity are taken into account, which are close to the actual conditions in the direct coupling method. The effects of the pulse excitation parameters on the pinch-off time, tail length, velocity, and volume of the droplet are analyzed by the proposed direct coupling method. The pressure distribution inside the cavity of the micro-jet and the status of the droplet formation at different times are also given. In addition, the method is proved to be effective in predicting and analyzing the fluid dynamic characteristics of piezoelectric micro-jets by comparing the simulation results with the experimental results.

The design and experiment of a novel ultrasonic motor based on the combination of bending modes.

This paper presents a new-type linear ultrasonic motor which takes advantage of the combination of two orthogonal bending vibration modes. The proposed ultrasonic motor consists of eight pieces of PZT ceramic plates and a metal beam that includes two cone-shaped horns and a cylindrical driving foot. The finite element analyses were finished to verify the working principle of the proposed motor. The mode shapes of the motor were obtained by modal analysis; the elliptical trajectories of nodes on the driving foot were obtained by time-domain analysis. Based on the analyses, a prototype of the proposed motor was fabricated and measured. The mechanical output characteristics were obtained by experiments. The maximal velocity of the proposed motor is 735mm/s and the maximal thrust is 1.1N.

A cylindrical traveling wave ultrasonic motor using bonded-type composite beam.

A cylindrical traveling wave ultrasonic motor using bonded-type composite beam is proposed in this work. In this new design, a new exciting mode for L-B (longitudinal-bending) hybrid vibrations using bonded-type is adopted, which requires only two pieces of PZT ceramic plates and a single metal beam. In the new motor, the traveling wave of a cylinder can be excited by the L-B vibrations of a bonded-type beam. When two alternating voltages with phase difference are applied, the longitudinal and bending vibrations of the beam can be generated synchronously based on the new exciting mode for L-B hybrid vibrations, and the temporal phase difference of the two vibrations is always 90°. Finite element method is adopted to realize the modal degeneration in order to confirm the final structural parameters of the motor, and analyze the motion trajectory of the driving tip. After the fabrication of a prototype, the vibration characteristics and mechanical output ability are measured. The maximum no-load speed and maximum output torque of the prototype are 342 rpm and 6.26 mN m at a voltage of 100 Vrms.

A T-shape linear piezoelectric motor with single foot.

A new T-shape piezoelectric motor using the hybrid of two orthogonal longitudinal vibrations is proposed in this work. Six pieces of PZT ceramic plates are bonded on the upside and downside surfaces of a T-shape duralumin alloy base respectively to form the proposed motor. Elliptical movement can be generated on the driving tip by applying sine and cosine voltages to the PZT elements. The horizontal displacement of the driving tip will push the runner while the vertical displacement can overcome the preload. Finite element method is used to accomplish the design and analysis process. The resonance frequencies of the two vibration modes are tuned to be close by modal analysis, while the motion trajectory of the driving tip is observed by transient analysis. After the fabrication of a prototype, the vibration characteristics and mechanical output ability are measured. The no-load speed and the maximum output thrust force of the proposed motor are tested to be 718 mm/s and 3.5 N under an exciting frequency of 53.1 kHz. The proposed T-shape piezoelectric motor exhibits merits of simple structure, easy to realize miniaturization, easy to be fabricated, and high power-to-weight ratio.

Ring-type traveling wave ultrasonic motor using a radial bending mode.

A traveling wave ultrasonic motor utilizing a radial bending mode of a thick ring is proposed. Twenty PZT stacks and 20 block springs are nested alternately into 40 slots cut in the ring's outer surface to produce a traveling wave. The prototype achieves maximum speed and torque of 146 r/min and 1.0 N·m, respectively.

A rectangle-type linear ultrasonic motor using longitudinal vibration transducers with four driving feet.

To make full use of the vibrational energy of a longitudinal transducer, a rectangle-type linear ultrasonic motor with four driving feet is proposed in this paper. This new motor consists of four longitudinal vibration transducers which are arranged in a rectangle and form an enclosed construction. Lead zirconate titanate ceramics are embedded into the middle of the transducer and fastened by a wedge-caulking mechanism. Each transducer includes an exponentially shaped horn located on each end. The horns of the vertical transducers intersect at the base of the horizontal transducers' horns; the tip ends of the horizontal transducers' horns are used as the driving feet. Longitudinal vibrations are superimposed in the motor and generate elliptical movements at the tip ends of the horns. The working principle of the proposed motor is analyzed. The resonance frequencies of two working modes are tuned to be close to each other by adjusting the structural parameters. Transient analysis is developed to gain the vibration characteristics of the motor. A prototype motor is fabricated and measured. The vibration test results verify the feasibility of the proposed design. Typical output of the prototype is a no-load speed of 928 mm/s and maximum thrust force of 60 N at a voltage of 200 Vrms.

A U-shaped linear ultrasonic motor using longitudinal vibration transducers with double feet.

A U-shaped linear ultrasonic motor using longitudinal vibration transducers with double feet was proposed in this paper. The proposed motor contains a horizontal transducer and two vertical transducers. The horizontal transducer includes two exponential shape horns located at the leading ends, and each vertical transducer contains one exponential shape horn. The horns of the horizontal transducer and the vertical transducer intersect at the tip ends where the driving feet are located. Longitudinal vibrations are superimposed in the motor and generate elliptical motions at the driving feet. The two vibration modes of the motor are discussed, and the motion trajectories of driving feet are deduced. By adjusting the structural parameters, the resonance frequencies of two vibration modes were degenerated. A prototype motor was fabricated and measured. Typical output of the prototype is no-load speed of 854 mm/s and maximum thrust force of 40 N at a voltage of 200 V(rms).

A cylindrical traveling wave ultrasonic motor using a circumferential composite transducer.

This paper intends to present and verify a new idea for constructing traveling wave ultrasonic motors that may effectively avoid the drawbacks of conventional traveling wave motors using bonded PZT plates as the exciting elements. In the configuration of the motor's stator, a composite sandwich type transducer is used to excite a traveling wave in a cylinder with two cantilevers as the coupling bridges between the transducer and the cylinder. The design process of the stator is described using the FEM modal analysis method, and the establishment of traveling wave on the cylindrical stator was simulated by FEM transient analysis. To verify the theoretical analysis results, a laser Doppler scanner was employed to test the mode shapes of a prototype stator excited by the longitudinal and bending vibrations respectively. Finally, to validate the design idea, a prototype motor was fabricated and tested; the typical output features are no-load speed of 156 rpm and maximum torque of 0.75 N·m under exciting voltages of 70 V(rms) applied to excite the longitudinal vibration of the transducer and 200 V(rms) applied to excite the bending vibration.

A cylindrical standing wave ultrasonic motor using bending vibration transducer.

A cylindrical standing wave ultrasonic motor using bending vibration transducer was proposed in this paper. The proposed stator contains a cylinder and a bending vibration transducer. The two combining sites between the cylinder and the transducer locate at the adjacent wave loops of bending vibration of the transducer and have a distance that equal to the half wave length of bending standing wave excited in the cylinder. Thus, the bending mode of the cylinder can be excited by the bending vibration of the transducer. Two circular cone type rotors are pressed in contact to the end rims of the teeth, and the preload between the rotors and stator is accomplished by a spring and nut system. The working principle of the proposed motor was analyzed. The motion trajectories of teeth were deduced. The stator was designed and analyzed with FEM. A prototype motor was fabricated and measured. Typical output of the prototype is no-load speed of 165rpm and maximum torque of 0.45Nm at an exciting voltage of 200V(rms).