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 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...