A piezoelectric driving method for rover vehicles is proposed in this paper. Employing this method, a tracked vehicle driven by friction forces from a frame mounted with piezoelectric elements was developed. The vehicle is designed with no driver sprocket, no idler-wheel and no supporting bogie wheels, and the vehicle thus requires no lubrication and has potential application in planetary exploration. The frame consists of a pair of piezoelectric transducers. Each transducer comprises four annular parts jointed by beams adhered with piezoelectric ceramics. The tracks are set to the outer surface of the annular parts by means of track tension. Traveling rotating waves are generated by piezoelectric transducers in the annular parts, which generate microscopic elliptical motions at the interface of the tracks. The microscopic elliptical motions from the piezoelectric transducers drive the track vehicle to move. Finite elements analysis was carried out to verify the operation principle using commercial software ANSYS. Piezoelectric transducers were fabricated, assembled and tested to validate the concepts of the proposed rover vehicle and confirm the simulation results. A prototype vehicle with mass of 0.57 kg moves at a speed of 4.3 mm/s at a driving voltage of 250 V and operating frequency of 65.53 kHz.
JIN JiaMeiQIAN FuYANG YingZHANG JianHuiZHU KongJun
