Table 3 Comparisons between the proposed tracked mobile system and some developed traveling wave tracked mobile systems
Parameters | Tracked mobile system driven by a surface-bonded type piezoelectric transducer with four driving rings [29] | Tracked mobile system driven by a sandwich piezoelectric transducer with two driving rings [30] | The proposed tracked mobile system |
|---|---|---|---|
Driving frequency (kHz) | 65.31 | 35.1 | 19.41 |
Weight(g) | 244 | 403 | 395 |
Dimensions of the piezoelectric transducer (mm×mm×mm) | 164.9 × 44.6 × 8 | 198 × 40 × 12 | 247 × 38.5 × 12 |
Maximum mean velocity | 57 mm/s under two excitation voltages of 460 VRMS | 72 mm/s under two excitation voltages of 500 VRMS | 59 mm/s under the excitation voltage of 500 VRMS |
Maximum stalling force (N) | Not available | Not available | 1.65 |
Maximum loading weight | 240 g under two excitation voltages of 400 VRMS | 1.44 kg under two excitation voltages of 300 VRMS | 110 g (traction loading weight) under the excitation voltage of 300 VRMS |