Application Cases

Experiment Name: Robot Climbing Speed Test Experiment

Research Direction:
Innovative robot climbing mechanisms, flexible actuation and body design, precision manufacturing process development

Experiment Objective:
This experiment conducts climbing tests on the actuator and the entire prototype of a flexible pole-climbing robot, verifying its ability to successfully ascend a pole. The ascent process is recorded using high-speed cameras. Key performance indicators obtained from the experiment are compared with theoretical design values, providing critical data support for future optimization and improvement of the robot.

Testing Equipment:
Signal generator, ATA-2082 high-voltage amplifier, high-precision dynamometer, two tungsten steel rods, high-speed camera system, high-frequency synchronous light source, synchronous controller, switch, computer, etc.

Figure 1: Composition of the Robot Drive System

Experimental Procedure:
First, connect the piezoelectric actuator leads to the output of the high-voltage amplifier, ensuring that the electric field directions of the two piezoelectric actuators are identical—meaning that at any given moment, the voltages on both sides of the two actuators are simultaneously positive at the top and negative at the bottom, or vice versa. Then, set the frame rate of the two high-speed cameras to 3600 fps with an image resolution of 384 × 680. Start the high-speed cameras to begin recording, then activate the function generator and the high-voltage amplifier to output an AC voltage. Adjust the frequency to a range of 380–430 Hz. The climbing robot is observed to successfully ascend the pole rapidly. Meanwhile, images of the robot's ascent process are captured by the high-speed cameras and uploaded to the computer for storage. The experimental schematic and physical setup are shown in Figures 2 and 3.

Figure 2: Schematic Diagram of Equipment Connection for the Climbing Test Platform

Figure 3: Physical Setup of the Climbing Test Platform

Experimental Results:

1. Climbing Frequency: Climbing is achievable only within the frequency range of 380–430 Hz, corresponding to the "torsional motion" of the actuator. At other frequencies (e.g., 60–70 Hz), the actuator exhibits "vertical oscillation," preventing ascent.

2. Speed and Height: The fastest no-load climbing speed, reaching 120 mm/s, is achieved at 405 Hz. Within the frequency range of 395–420 Hz, the maximum climbing height is 11.5 cm (limited by the test rod length). When replaced with a 20 cm rod, the robot can climb to the top and even leap beyond. The relationship between climbing speed and frequency is illustrated in Figure 4.

   
   

Figure 4: Relationship Between Robot Climbing Speed and Frequency

Performance Comparison: Among sub-100g micro-robots, this robot achieves the highest relative speed (3.64 body lengths/s) and the lowest mass (82 mg), outperforming traditional inchworm-inspired and wheeled pole-climbing robots. A comparison is shown in Figure 5.

Figure 5: Comparison of Relative Body Length Speed and Mass Among Various Climbing Robots

Product Recommendation: ATA-2082 High-Voltage Amplifier

Figure: ATA-2082 High-Voltage Amplifier Specifications and Parameters

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