一种基于压电驱动的微型水陆两栖爬行机器人

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中图分类号：TH122 文献标志码：A 文章编号：1673-2340（2025）02-0064-06

A miniature amphibious crawling robot driven by piezoelectric actuator

WANG Le ，WANG Xin2 ，FEI Senjiel，YANQiufeng3

（1.SchoolofIntellgentManufacturingandElevator，HuzhouVocationalandTechnicalCollege，Huzhou 3l3o99，China; 2.Huzhou Institute of ZhejiangUniversity，Huzhou 3l3o99，China; 3.School of Electrical Engineeringand Automation，Nantong University，Nantong 226ol9，China）

Abstract：Toaddressthe limitation of single-mode motion in micro piezoelectric robots，this study proposes apiezoelectric-drivenmicro amphibious crawling robot.Therobotutilizes the inverse piezoelectric efectof piezoelectricceramics to excite multiple vibration modes of its body，enabling bothterestrial crawlingviacontact frictionand aquatic swimming via jet flow，thus achieving amphibious locomotion.A compact structure driven bya single-phase excitation signal alows dual-mode motionon land and in water.Finite element modeling wasconducted using Ansys l9.0 to analyze the robot'sstructural design，operating principle，and optimal working modes.Aprototype was fabricated and experimentally tested.At a driving frequency of 17.0kHz and a peak -to-peak voltage of 100V ，therobot achieved a maximum crawling speed of 130mm/s ，equivalent to 6.5 body lengthsper second.At 227.0kHz and the same voltage，its average swimming speed on the water surface reached 50mm/s ，or 2.5 body lengths per second. The consistency between simulationandexperimentalresultsverifiesthe feasibilityof theproposed structural designand confirms the validity of the operating principle.

Key words：micro robot; crawling robot; piezoelectricity;vibration modes; jet flow;amphibious locomotion

微型机器人凭借其体积小、质量轻、运动灵活等特点，在检测、救援、侦察、医疗等领域展现出广阔的应用前景[1-5]。（剩余9439字）