Sharif Digital Repository

In this paper, motion of a micro-robot with two perpendicular vibrational actuators is studied. In this work, separation of the micro-robot body from the substrate of motion is modeled. If the applied vertical force to the micro-robot body is greater than its weight, body of the micro-robot jumps apart from the substrate and then returns to it. This motion will continue intermittently until it is damped. In this condition, the motion mechanism of “stick-slip” is not valid, and a hybrid motion according to “stick-slip-jump” mode is governed. By increasing the applied vertical force, the motion velocity of the micro-robot becomes disordered and unrepeatable. By numerical solving of the... 

In this paper, the fully coupled rolling contact problem of a graded coating/substrate system under the action of a rigid cylinder is investigated. Using the singular integral equation approach, the governing equations of the rolling contact problem are constructed for all possible stick/slip regimes. Applying the Gauss-Chebyshev numerical integration method, the governing equations are converted to systems of algebraic equations. A new numerical algorithm is proposed to solve these systems of equations. Both the coupled and the uncoupled solutions to the problem are found through an implemented iterative procedure. In Part I of this paper, the analytical formulation of the rolling contact... 

In this paper, the stick-slip motion of a microrobot with two perpendicular vibrational actuators is studied. This motion is based on the friction drive principle. To determine the effective parameters in the motion of microrobot, the equations of motion of the microrobot are derived. To simplify the equations for determining the design parameters, the vibrational actuators are modeled with two perpendicular harmonic forces. To study the motion dynamics of the microrobot, its equation of motion is derived in a nondimensional expression by defining the nondimensional effective parameters. The Fourier expansion (F.E.) method is used to analyze the numerical results and it showed some... 

In this paper, the stick-slip motion of a new type of micro-robot with two perpendicular vibratory actuators is studied which is based on the friction drive principle. The actuators are based on piezo-electric phenomenon which are driven by a harmonic voltage, and both of them are mounted on the micro-robot body. These actuators cause the micro-robot moves forward or backward due to the specified phase difference between the voltages applied to vertical and horizontal actuators. Since the dynamics of the actuators affects on the micro-robot motion, so to derive the equations of motion the coupled dynamics between the body of robot and vibratory masses of actuators are considered, and the... 

In this work, sessile drop and low-bond axisymmetric drop shape analysis methods were coupled to provide some new aspects on stick-slip behavior as well as stick time of a drop on calcite surfaces. Slightly hydrophobic calcite surfaces typified with three irregular roughnesses were used to create irregular surfaces to mimic defects for the water-calcite-air systems. Polishing papers of 200, 600, and 1200 grit and a polishing machine were used to prepare surfaces. X-ray diffraction, energy dispersive X-ray spectroscopy, Fourier transform infrared, and atomic force microscopy techniques were employed to evaluate the chemical and physical properties of surfaces. A model was developed to predict... 

In this paper axial and torsional vibrations of a drillstring are studied using cylindrical superelement. Drillstring vibration equation is derived by calculating kinetic and potential energy and work done by external forces on drillstring, and utilizing Hamilton's principle. The model is analyzed by implementing finite element technique with consideration drillstring weight, centrifugal force due to rotation of drillstring, axial force resulting from bit with the formation contact and torsional torque caused by the stick-slip phenomenon. To calculate the vibrational response of drillstring, a computational finite element scheme was developed. For a typical case of oil well drillstring, the... 

This research presents two-dimensional controlled pushing-based nanomanipulation using an Atomic Force Microscope (AFM). A reliable control of the AFM tip position is crucial to AFM-based manipulation since the tip can jump over the target nanoparticle causing the process to fail. However, detailed modeling and an understanding of the interaction forces on the AFM tip have a central role in this process. In the proposed model, the Lund-Grenoble (LuGre) method is used to model the dynamic friction force between the nanoparticle and the substrate. This model leads to the stick-slip behavior of the nanoparticle, which is in agreement with the experimental behavior at nanoscale. Derjaguin... 

The motion of a stick-slip microrobot propelled by its piezoelectric unimorph legs is mathematically modeled. Using a continuously distributed mass model for the robot's body, the working equation of the mechanism is derived based on the assumption of linear Euler-Bernoulli beam theory and linear piezoelectric behavior. Moreover, the required condition for generating net motion is calculated in terms of physical characteristics of the microrobot. It is demonstrated that the higher the friction constant, then a lower average speed is obtained. Also, it is shown that a microrobot with heavier legs can move in a rougher environment. Regardless of the mass proportion between robot's main body... 

In this paper, the motion of a micro-robot with two perpendicular vibrational actuators is studied. In this work, separation of the micro-robot body from the substrate of motion takes place. The separation happens while the vertical force applied to the micro-robot body is greater than the micro-robot weight. In this condition, body of the micro-robot jumps apart from the substrate and then returns to it, and this motion will continue intermittently until it becomes damped. In this condition, the motion mechanism of "stick-slip" is not valid and we introduce a new mechanism of hybrid motion as "stick-slip-jump". In this case (hybrid motion), the micro-robot dynamics is modeled and the result... 

In this paper, the stick-slip-jump motion of a micro-robot with two perpendicular vibratory actuators is studied. A practical model of this micro-robot is designed and fabricated with two Langevin type piezoelectric actuators, which are driven by harmonic voltages. Depending on the amplitude and frequency of the driving voltages of the micro-robot actuators, as well as their phase difference, the type of the motion dynamics and the states of the contact points in the motion (slipping or jumping) are determined. Considering the conditions of the contact points of the micro-robot, the motion is based on the combination of the friction drive principle (stick-slip) and jumping phenomenon. A... 

This paper proposes an optimized design for a 2DOF linear-motion mobile microrobot. The forward motion of the microrobot is achieved by simultaneous excitation of the vertical and horizontal oscillators that create the stick-slip locomotion. Dynamic equations of motion for the microrobot are derived and simplified based on Coulomb friction. The horizontal and vertical elements are connected to the main mass by piezoelectric actuators and are set in oscillatory motion by applying a harmonic voltage to the actuators. The design parameters, including the perpendicularly-mounted masses, frequency, and phase difference of the excitations are tuned in order to achieve high locomotion velocity and... 

The analytical formulation of the fully coupled and the uncoupled rolling contact mechanics problems for all possible stick/slip regimes are derived in Part I (Alinia et al., 2013). In this part, we focus on the numerical algorithm, the iteration procedure and the numerical results. The coupled and the uncoupled solutions corresponding to each of the assumed stick/slip regimes are provided. The uncoupled solution provides an acceptable approximation to the problem for small coefficient of friction values. However, for high values of the coefficient of friction the problem should be solved in fully coupled form. In addition, the effect of several parameters such as the stiffness ratio, the... 

In this paper, the problem of velocity control of a micro-robot's locomotion with nanometric resolution has been investigated. A sliding, A-shaped micro-robot, used in precision positioning applications is analyzed. This micro-robot is actuated by means of a piezoelectric stack actuator in order to produce translational and periodic motion. A dynamic model of the robot is proposed assuming linear behavior for the piezoelectric stack and Coulomb friction model. Then, in order to control the velocity of micro-robot, first a robust sliding mode control is used so that the relative angle between the legs in the micro-robot tracks a periodic reference signal. The velocity tracking for the... 

In this research, the dynamic behavior of serrated flows observed in the flexural stress-deflection curves during three-point bending (3 PB) tests on Zr-, Ti- and La-based bulk metallic glasses (BMGs) is statistically analyzed. Furthermore, the effect of strain rate on the serrations is studied. Based on the ductility of alloy, two distinct types of dynamics are detected. For more ductile alloys (Zr- and Ti-based BMGs) the stress drop magnitude of serrations obeys a power-law distribution of shear avalanches, which is an indicator of the self-organized critical (SOC) state in dynamics. In this case, the size of avalanches has no characteristic scale. In contrast, the size of serrations... 

This research regards to a two-dimensional lateral pushing nanomanipulation using Atomic Force Microscope (AFM). Yet a reliable control of the AFM tip position during the AFM-based manipulation process is a chief issue since the tip can jump over the target nanoparticle and then the process can fail. However, a detailed Modeling and understanding of the interaction forces on the AFM tip is important for prosperous manipulation control and a nanometer resolution tip positioning. In the proposed model, Lund-Grenoble (LuGre) dynamic friction model is used as friction force on the contact surface between the nanoparticle and the substrate. This model leads to a stick-slip behavior of the... 

In this paper, an Uzawa-type augmented Lagrangian contact formulation is presented for modeling frictional discontinuities in the framework of the X-FEM technique. The kinematically nonlinear contact problem is resolved based on an active set strategy to fulfill the Kuhn-Tucker inequalities in the normal direction of contact. The Coulomb's friction rule is employed to address the stick-slip behavior on the contact interface through a return mapping algorithm in conjunction with a symmetrized (nested) augmented Lagrangian approach. A stabilization algorithm is proposed for the robust imposition of the frictional contact constraints within the proposed augmented Lagrangian framework. Several... 

This research regards to a two-dimensional lateral pushing nanomanipulation using Atomic Force Microscope (AFM). Yet a reliable control of the AFM tip position during the AFM-based manipulation process is a chief issue since the tip can jump over the target nanoparticle and then the process can fail. However, a detailed Modeling and understanding of the interaction forces on the AFM tip is important for prosperous manipulation control and a nanometer resolution tip positioning. In the proposed model, Lund-Grenoble (LuGre) dynamic friction model is used as friction force on the contact surface between the nanoparticle and the substrate. This model leads to a stick-slip behavior of the... 

Application of atomic force microscope (AFM) as a manipulator for pushing-based positioning of nanoparticles has been of considerable interest during recent years. Nevertheless comprehensive researches has been done on modeling and the dynamics analysis of nanoparticle behavior during the positioning process. The development of dynamics modeling of nanoparticle is crucial to have an accurate manipulation. In this paper, a comprehensive model of pushing based manipulation of a nanoparticle by AFM probe is presented. The proposed nanomanipulation model consists of all effective phenomena in nanoscale. Nanoscale interaction forces, elastic deformation in contact areas and friction forces in... 

Drill strings are subjected to complex coupled dynamics. Therefore, accurate dynamic modeling, which can represent the physical behavior of real drill strings, is of great importance for system analysis and control. The most widely used dynamic models for such systems are the lumped element models, which neglect the system distributed feature. In this paper, a dynamic model called neutral-type time delay model is modified to investigate the coupled axial–torsional vibrations in drill strings. This model is derived directly from the distributed parameter model by employing the d’Alembert method. Coupling of axial and torsional vibration modes occurs in the bit–rock interface. For the first...