Insect-scale flapping wing aerial robots actuated by piezoelectric materials—known for their high power density and rapid frequency response—have recently garnered increasing attention.However,the limited output dis...Insect-scale flapping wing aerial robots actuated by piezoelectric materials—known for their high power density and rapid frequency response—have recently garnered increasing attention.However,the limited output displacement of piezoelectric actuators results in complex transmission methods that are challenging to assemble.Furthermore,high piezoelectric coefficient materials capable of large displacements for direct wing actuation are fragile,costly,and relatively bulky.This article presents a novel design for minimalist insect-scale aerial robots,where piezoelectric bimorph PZT actuators directly drive two pairs of wings,thus eliminating complex transmission mechanisms and reducing fabrication complexity.These robots demonstrate high liftoff speeds and favorable lift-to-weight ratios,and they can achieve vertical ascent under uncontrolled open-loop conditions.The piezoelectric direct-driven twowing insect-scale aerial robot,based on this approach,features an 8 cm wingspan and a prototype weight of 140 mg,successfully achieving takeoff under unconstrained conditions with an external power source.To further enhance insect-scale aerial robot performance,we optimized the wing-to-actuator ratio and wing arrangement.We propose a biaxial aerial robot with an X-shaped structure,a 2:1 wing-toactuator ratio,a 70 mm wingspan,and a total mass of 160 mg.This structure demonstrates a high lift-to-weight ratio of 2.8:1.During free flight,when powered externally,it attains a maximum takeoff speed exceeding 1 m/s and achieves a vertical takeoff height surpassing 80 cm under uncontrolled conditions.Consequently,it ranks among the fastest prototypes in the milligram-scale weight category.展开更多
Polyvinylidene fluoride/lead zirconate titanate(PVDF/PZT)composite films have been prepared by direct ink writing and the effect of PZT content on crystallization behavior and electrical properties of film were system...Polyvinylidene fluoride/lead zirconate titanate(PVDF/PZT)composite films have been prepared by direct ink writing and the effect of PZT content on crystallization behavior and electrical properties of film were systematically investigated.The composite films were characterized by scanning electron microscope(SEM),X-ray diffractometer(XRD),Flourier transform infrared spectroscope(FTIR)and differential scanning calorimeter(DSC).The results show that,surface modified PZT powder(PZT@PDA)is successfully coated by polydopamine(PDA),resulting in a large number of polar groups that interact with the-CF_(2)-groups in PVDF,inducing the generation of polarβphase due to hydrogen bonding formed in the interaction.Theβphase content in composite film increases with increasing PZT@PDA content,up to 28.09%as with 5 wt.%PZT@PDA.PZT@PDA plays a role of nucleating agent to promote the generation of polar phases in the film and also acts as an impurity hindering the growth of nuclei to reduce crystallinity.Moreover,the presence of PZT@PDA in interfaces provides more sites for the occurrence of interfacial polarization and thus improving the electrical properties of films.The composite film with 5 wt.%PZT@PDA possesses the highest dielectric constant(8.61)and residual polarization value(0.6803μC/cm^(2)).展开更多
-用固相反应法制备了B位空位补偿型钐掺杂非准同型相界组分PZT(54/46)陶瓷.通过正电子湮没寿命谱(PALS)和符合多普勒展宽能谱(CDBS)对陶瓷中的缺陷结构进行综合表征,结合常规表征手段如X射线衍射(XRD),电子扫描显微镜(SEM),介电、铁电...-用固相反应法制备了B位空位补偿型钐掺杂非准同型相界组分PZT(54/46)陶瓷.通过正电子湮没寿命谱(PALS)和符合多普勒展宽能谱(CDBS)对陶瓷中的缺陷结构进行综合表征,结合常规表征手段如X射线衍射(XRD),电子扫描显微镜(SEM),介电、铁电和压电性能测量,研究缺陷对陶瓷压电性能的影响.XRD结果显示所有陶瓷均为纯钙钛矿相,掺杂诱导了菱方-四方(R-T)相变,准同型相界位于Sm掺杂量x=0.010.02.电学测量结果反映:介电、铁电和压电性能均先增强后减弱,MPB附近两个样品都有优异的介电和铁电性能,但其压电性能差别很大.x=0.01给出最优压电性能d_(33)=572 p C/N,较未掺杂样品增强了一倍.PALS结果表明掺杂使陶瓷中缺陷类型发生变化,x≤0.01,样品中同时含有A位空位与B位空位;x≥0.02,样品中以A位相关缺陷为主,B位空位浓度很低.CDBS结果进一步证实x=0.01和0.02中B位空位浓度分别是该体系中最高和最低的.由以上结果推断出:x=0.01获得的最优压电性能与其中较高浓度的B位空位有关,B位空位可稀释A位空位浓度,降低氧空位浓度,从而降低A位空位与氧空位形成缺陷偶极子的几率,促进畴壁运动,使压电性能增强.展开更多
基金supported by the National Natural Science Foundation of China(No.52475039)。
文摘Insect-scale flapping wing aerial robots actuated by piezoelectric materials—known for their high power density and rapid frequency response—have recently garnered increasing attention.However,the limited output displacement of piezoelectric actuators results in complex transmission methods that are challenging to assemble.Furthermore,high piezoelectric coefficient materials capable of large displacements for direct wing actuation are fragile,costly,and relatively bulky.This article presents a novel design for minimalist insect-scale aerial robots,where piezoelectric bimorph PZT actuators directly drive two pairs of wings,thus eliminating complex transmission mechanisms and reducing fabrication complexity.These robots demonstrate high liftoff speeds and favorable lift-to-weight ratios,and they can achieve vertical ascent under uncontrolled open-loop conditions.The piezoelectric direct-driven twowing insect-scale aerial robot,based on this approach,features an 8 cm wingspan and a prototype weight of 140 mg,successfully achieving takeoff under unconstrained conditions with an external power source.To further enhance insect-scale aerial robot performance,we optimized the wing-to-actuator ratio and wing arrangement.We propose a biaxial aerial robot with an X-shaped structure,a 2:1 wing-toactuator ratio,a 70 mm wingspan,and a total mass of 160 mg.This structure demonstrates a high lift-to-weight ratio of 2.8:1.During free flight,when powered externally,it attains a maximum takeoff speed exceeding 1 m/s and achieves a vertical takeoff height surpassing 80 cm under uncontrolled conditions.Consequently,it ranks among the fastest prototypes in the milligram-scale weight category.
基金Project(22020JJ4729)supported by the Natural Science Foundation of Hunan Province,China。
文摘Polyvinylidene fluoride/lead zirconate titanate(PVDF/PZT)composite films have been prepared by direct ink writing and the effect of PZT content on crystallization behavior and electrical properties of film were systematically investigated.The composite films were characterized by scanning electron microscope(SEM),X-ray diffractometer(XRD),Flourier transform infrared spectroscope(FTIR)and differential scanning calorimeter(DSC).The results show that,surface modified PZT powder(PZT@PDA)is successfully coated by polydopamine(PDA),resulting in a large number of polar groups that interact with the-CF_(2)-groups in PVDF,inducing the generation of polarβphase due to hydrogen bonding formed in the interaction.Theβphase content in composite film increases with increasing PZT@PDA content,up to 28.09%as with 5 wt.%PZT@PDA.PZT@PDA plays a role of nucleating agent to promote the generation of polar phases in the film and also acts as an impurity hindering the growth of nuclei to reduce crystallinity.Moreover,the presence of PZT@PDA in interfaces provides more sites for the occurrence of interfacial polarization and thus improving the electrical properties of films.The composite film with 5 wt.%PZT@PDA possesses the highest dielectric constant(8.61)and residual polarization value(0.6803μC/cm^(2)).
文摘-用固相反应法制备了B位空位补偿型钐掺杂非准同型相界组分PZT(54/46)陶瓷.通过正电子湮没寿命谱(PALS)和符合多普勒展宽能谱(CDBS)对陶瓷中的缺陷结构进行综合表征,结合常规表征手段如X射线衍射(XRD),电子扫描显微镜(SEM),介电、铁电和压电性能测量,研究缺陷对陶瓷压电性能的影响.XRD结果显示所有陶瓷均为纯钙钛矿相,掺杂诱导了菱方-四方(R-T)相变,准同型相界位于Sm掺杂量x=0.010.02.电学测量结果反映:介电、铁电和压电性能均先增强后减弱,MPB附近两个样品都有优异的介电和铁电性能,但其压电性能差别很大.x=0.01给出最优压电性能d_(33)=572 p C/N,较未掺杂样品增强了一倍.PALS结果表明掺杂使陶瓷中缺陷类型发生变化,x≤0.01,样品中同时含有A位空位与B位空位;x≥0.02,样品中以A位相关缺陷为主,B位空位浓度很低.CDBS结果进一步证实x=0.01和0.02中B位空位浓度分别是该体系中最高和最低的.由以上结果推断出:x=0.01获得的最优压电性能与其中较高浓度的B位空位有关,B位空位可稀释A位空位浓度,降低氧空位浓度,从而降低A位空位与氧空位形成缺陷偶极子的几率,促进畴壁运动,使压电性能增强.
