Application Cases

【Overview】
In this study, the Aigtek ATA-2022B high-voltage amplifier was used to build a robot testing system to evaluate the motion output characteristics of an inertia-actuated four-legged piezoelectric mobile robot.

Experiment Name: Motion Output Characteristics Testing of an Inertia-Actuated Four-Legged Piezoelectric Mobile Robot

Research Direction: Inertia actuation, four-legged piezoelectric mobile robot, piezoelectric actuator, micro/nano actuation, planar 2-degree-of-freedom motion

Experiment Objective:
This experiment aims to build a dedicated testing platform to study the motion output characteristics of an inertia-actuated four-legged piezoelectric mobile robot. The influence of excitation voltage, frequency, ramp signal symmetry, and working surface on the robot's motion is investigated to determine the optimal operating frequency, voltage, and excitation signal parameters for efficient actuation. Additionally, the robot's precision, speed, stability, load capacity, and environmental adaptability are evaluated, providing a reliable experimental basis for its subsequent practical engineering applications and commercial promotion.

Testing Equipment:

1. Core tested component: Self-developed inertia-actuated four-legged piezoelectric mobile robot;

2. Signal generation: Dual-channel signal generator (provides excitation signals);

3. Signal amplification: Aigtek ATA-2022B high-voltage amplifier;

4. Data acquisition: Laser vibration sensor with a displacement resolution of 1 nm (acquires displacement and velocity signals);

5. Data processing: Computer (processes acquired motion signals).

   
   

Figure 1: Photo of the Experimental Platform

Experimental Procedure:
First, the four-legged piezoelectric mobile robot was fabricated and assembled. An experimental testing platform was built, consisting of a dual-channel signal generator, an Aigtek ATA-2022B high-voltage amplifier, a laser vibration sensor with 1 nm displacement resolution, and a computer. Subsequently, a series of tests were conducted to evaluate the robot's voltage-velocity characteristics, frequency-velocity characteristics, and the influence of ramp signal symmetry on output performance. Finally, the robot's mobility on wooden, marble, and glass surfaces was tested, along with a 75 g load capacity experiment. All experimental data were compiled and analyzed in conjunction with Comsol Multiphysics simulation results.

Experimental Results:
The four-legged piezoelectric mobile robot achieves large-range, high-precision planar 2-degree-of-freedom motion, with a motion resolution of 1 μm, a maximum motion speed of 46 mm/s, and a load capacity of 75 g. It exhibits high precision, fast speed, high stability, and strong load capacity. Under the same excitation frequency, the output speed increases approximately linearly with input voltage. For a given peak-to-peak voltage, there is a cutoff frequency at which the output speed is maximized. The normal operating frequency range is 50–250 Hz, and the optimal symmetry for the ramp signal is 75%–80%. The robot moves stably on wooden, marble, and glass surfaces, demonstrating good environmental adaptability.

Advantages of Aigtek Amplifiers in This Application:

1. Dual-channel independent output – Enables flexible multi-phase drive and control of the four-legged piezoelectric robot.

2. Wide bandwidth and high voltage output – Provides sufficient voltage to achieve maximum motion capability.

3. Low distortion and digitally adjustable fine gain – Accurately reproduces ramp signal symmetry, optimizing motion output characteristics.

Recommended Product: ATA-2022B High-Voltage Amplifier

Figure: ATA-2022B High-Voltage Amplifier Specifications and Parameters