PLZT 素子と静電自励振動アクチュエータを用いたワイヤレス小型移動ロボットにおける振動子質量の駆動特性への影響

抄録

Self-excited electrostatic actuators are suitable for small robots because they have a simple structure, are driven by DC voltage, and the force density increases with decreasing size. We have combined this actuator with a PLZT element, which has the property of generating a high voltage when irradiated with ultraviolet light, to fabricate a wireless small mobile robot and successfully drive it. In order to improve the driving performance of this robot, it is necessary to know the influence of various parameters of the robot on its motion. In this paper, we conducted a verification experiment to investigate the influence of the armature mass on the driving characteristics of this robot.