Piezo Aktüator ile Tahrik Edilen Yüzer Mini Robot Tasarımı

Year 2023, , 519 - 527, 05.07.2023

Nida Nur Karagöz , Sinan Atıcı , Berk Faruk Yaman , Bünyamin Topacık , Selçuk Kizir

https://doi.org/10.2339/politeknik.993182

Abstract

Geçmişten günümüze insanoğlu, yaşam kalitesini geliştirmek ve karşılaştığı sorunların üstesinden gelebilmek için doğadaki pek çok şeyi gözlemlemiş ve taklit etmiştir. Günümüzde, biyomimetik biliminin gelişimi robotik alanını da oldukça etkilemektedir. Bu çalışmada; piezo bimorf ile tahrik edilen kurbağa larvası hareketini taklit eden bir mini robotun en uygun tasarımına ulaşmak ve bu robotun optimum çalışma değerlerini tespit etmek amaçlanmıştır. Matematiksel analiz ve bilgisayar simülasyonları gerçekleştirilmiştir. Çalışma, bilgisayar görmesi yöntemi ve joystick sistem ile desteklenmiştir. Bunlarla beraber bu çalışmada, karşılaşılan problemlerden ve uygulanan alternatif yollardan da bahsedilmektedir.

Keywords

piezo bimorf, mini robot, biyomimetik, kurba larvası

Floating Mini Robot Design Driven by Piezo Actuator

Abstract

From past to present, human beings have observed and imitated many things in nature to improve their quality of life and overcome the problems they face. Today, the development of biomimetic science also greatly influences robotics. In this study, it is aimed to reach the most suitable design of a mini-robot that imitates the movement of tadpoles driven by piezo bimorph and to determine the optimum operating values of this robot. Mathematical analysis and computer simulations were carried out. The study was supported by the computer vision method and haptic system. In addition to these, the problems encountered and the alternative ways applied are also mentioned in this article.

Keywords

biomimetic, piezo bimorph, mini robot, swimming tadpole

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