Design and realization of piezoelectric mobiles for cooperative use

Design and realization of piezoelectric mobiles for cooperative

use (piezoelectric mini-robots)

Dr. Hassan HaririPr. Yves Bernard & Pr. Adel RazekGeePs: Génie électrique et électronique de Parishttp://www.geeps.centralesupelec.fr/

Email: [email protected]

http://www.geeps.centralesupelec.fr/

mailto:[email protected]

Copyright Hassan Hariri 2016

Introduction Inspired by the stingray fish, we think that

a locomotion in various environments (soil, air, liquid) using piezoelectric patches bonded on a thin structure is possible.

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Introduction A schematic of thin structure with

piezoelectric patches

3


A two dimensions modeling of non-collocated piezoelectric

patches bonded on thin structure

4


Under the assumption of linear elastic materials and plane stress formulation, we can write

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Under the assumption of linear elastic materials and plane stress formulation, we can write

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Applying Hamilton principle, we obtain the variational equation that represents the mechanical and piezoelectric system

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Numerically integrating the variational equation over the entire volume of the system and taking the boundary conditions into account in the assembly of matrices, the numerical equation is then written taking into account the damping matrix as follows

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A Traveling Wave Piezoelectric Beam Robot

Geometric parameters, coordinate system, and description of the neutral axis

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A Traveling Wave Piezoelectric Beam Robot

vibrator–absorber:1ME

vibrator–vibrator:2ME


A Traveling Wave Piezoelectric Plate Robot

Still under publication

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Mobile Piezoelectric Device (patent)

The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at least three unaligned piezoelectric transducers (3) attached onto a single surface of the plate (2), and a sinusoidal voltage generator (4) that generates sinusoidal voltage and is connected to at least one piezoelectric transducer (3) such as to generate a traveling wave in the flexible plate (2). The piezoelectric device (1) is characterized in that the flexible plate (2) supporting the at least three piezoelectric transducers (3) is mobile, the generated traveling wave being capable of moving the flexible plate (2)

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Different configurations

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3

3

3

3 2

1

44 4

4

0

+λ/4

2

33

0

3

1



Two Modes Excitation method (2ME)

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0 +λ/4

0 +λ/4

23

3 33

x

y

11 2

34

10 +λ/4

-λ/4 +λ/4

23

3 332

34

x

y

0 +λ/4

0 -λ/4

23

3 331 2

34

x

y



One Mode Excitation method (1ME)

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2

3

3

3

34

4

551

51

52

521 2

34

2

3

3

3

3 4

4 51

52

52

51 1 2

34


References [1] http://animals.desktopnexus.com/wallpaper/209676/ [2] http://picinpic.blogspot.fr/2011/07/manta-ray-fish.html [3] H. Hariri, Y. Bernard, A. Razek, ‘’A two dimensions modeling of

non-collocated piezoelectric patches bonded on thin structure’’, Journal of curved and layered structures, 2015.

[4] H. Hariri, Y. Bernard, A. Razek, ‘’ Finite element model of a beam structure with piezoelectric patches using RL shunt circuits’’, Proceedings of Adaptronic congress 2011, pp. 124-131.

[5] H. Hariri, Y. Bernard, A. Razek, ‘’Travelling wave piezoelectric beam robot’’, Journal of smart materials and structures, 2013, pp. 1-9.

[6] H. Hariri, Y. Bernard, A. Razek, ‘’Dual piezoelectric beam robot: The effect of piezoelectric patches’ positions’’, Journal of Intelligent Material Systems and Structures, 2015.

[7] Yves Bernard, Hassan Hariri, Adel Razek. Mobile piezoelectric device. Patent n° : WO 2015/059283. 2015. http://www.google.com/patents/WO2015059283A1?cl=en

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http://animals.desktopnexus.com/wallpaper/209676/

http://picinpic.blogspot.fr/2011/07/manta-ray-fish.html

http://www.google.com/patents/WO2015059283A1?cl=en

Design and realization of piezoelectric mobiles for cooperative use

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