PhD Paris

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  • Introduction

Inspired by the stingray fish (figure below), we think that a locomotion in various environments (soil, air, liquid) using piezoelectric patches bonded on a thin structure is possible.

Manta Ray [1-2]
A schematic of thin structure with piezoelectric patches
  • A two dimensions modeling of non-collocated piezoelectric patches bonded on thin structure
Non-collocated piezoelectric patches bonded on structures [3]

Under the assumption of linear elastic materials and plane stress formulation, we can write [3]

Applying Hamilton principle as described in [4], we obtain the variational equation that represents the mechanical and piezoelectric system [3].

Numerically integrating the variational equation over the entire volume of the system and taking the boundary conditions into account in the assembly of matrices, the numerical equation is then written taking into account the damping matrix as follows [3]

  • A Traveling Wave Piezoelectric Beam Robot
Geometric parameters, coordinate system, and description of the neutral axis [5-6]
A schematic figure for the Traveling Wave Piezoelectric Beam Robot: (a) vibrator–absorber, (b) vibrator-vibrator, and (c) traveling wave on the beam [5-6]
  • 2D Traveling Wave Driven Piezoelectric Plate Robot (TWDPPR) for Planar Motion
The methods of operation of the TWDPPR [7]
  • Mobile Piezoelectric Device Patent n° : WO 2015/059283.2015

The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at least three unaligned piezoelectric transducers (3) attached onto a single surface of the plate (2), and a sinusoidal voltage generator (4) that generates sinusoidal voltage and is connected to at least one piezoelectric transducer (3) such as to generate a traveling wave in the flexible plate (2). The piezoelectric device (1) is characterized in that the flexible plate (2) supporting the at least three piezoelectric transducers (3) is mobile, the generated traveling wave being capable of moving the flexible plate (2) [8].

Different configurations [8]
Two Modes Excitation Method (2ME) [8]
One Mode Excitation Method (1ME) [8]
  • Overview 
  • References

[1] http://animals.desktopnexus.com/wallpaper/209676/
[2] http://picinpic.blogspot.fr/2011/07/manta-ray-fish.html
[3] H. Hariri, Y. Bernard, A. Razek, ‘’A two dimensions modeling of non-collocated piezoelectric patches bonded on thin structure’’, Journal of curved and layered structures, 2015.
[4] H. Hariri, Y. Bernard, A. Razek, ‘’ Finite element model of a beam structure with piezoelectric patches using RL shunt circuits’’, Proceedings of Adaptronic congress 2011, pp. 124-131.
[5] H. Hariri, Y. Bernard, A. Razek, ‘’Travelling wave piezoelectric beam robot’’, Journal of smart materials and structures, 2013, pp. 1-9.
[6] H. Hariri, Y. Bernard, A. Razek, ‘’Dual piezoelectric beam robot: The effect of piezoelectric patches’ positions’’, Journal of Intelligent Material Systems and Structures, 2015.

[7] H. Hariri, Y. Bernard, A. Razek, ‘’ 2D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion”. IEEE Transaction on Mechatronics, 2018
[8] Yves Bernard, Hassan Hariri, Adel Razek. Mobile piezoelectric device. Patent n° : WO 2015/059283. 2015. http://www.google.com/patents/WO2015059283A1?cl=en