南京航空航天大学学报2025，Vol.57Issue(3)：429-440,12.DOI:10.16356/j.1005-2615.2025.03.004
模块化压电驱动多足式微爬行机器人
Modular Micro-crawling Robots Actuated by Piezoelectric with Multi-legged Locomotion
摘要
Abstract
At present,piezoelectric actuated multi-legged micro-crawling robots manufactured by smart com-posite microstructure(SCM)technology typically employ an integral design and assembly approach.Al-though this results in a compact structure of the robots with high integration,it leads to significant coupling in structure and challenge in assembly and maintenance.To address this issue,this paper proposes a design method reflecting in modular-manufacturing and free-assembly for multi-legged micro-crawling robots,and develops a quadruped micro-crawling robot with horizontal-modular layout feature accordingly.First,the modular design scheme for the entire robot system and the specific structure of multi-degree-of-freedom leg are presented.Second,the manufacturing and assembly processes of the piezoelectric actuating module,the angular-motion micro module,and the two-degree-of-freedom leg are analyzed,and the actual manufacturing and testing for each module are completed.Third,a micro-robot prototype is assembled,and its locomotion simulation based on the Trot gait is analyzed by using Adams software.Finally,the locomotion testing of the micro-crawling robot is conducted to preliminarily validate the corresponding performance.It provides a foun-dation for subsequent optimization design and the development of more versatile modular micro-crawling ro-bots.关键词
微爬行机器人/压电驱动/多足运动/智能复合微结构工艺/模块化设计Key words
micro-crawling robot/piezoelectric actuating/multi-legged locomotion/smart composite microstructure(SCM)technology/modular design分类
计算机与自动化引用本文复制引用
贾慧洲,曾潇丰,尹灿辉,吴宇列,肖定邦..模块化压电驱动多足式微爬行机器人[J].南京航空航天大学学报,2025,57(3):429-440,12.基金项目
国防基础科研资助计划(JCKY2023210C002). （JCKY2023210C002）
