Design and Analysis of Vibration-Based, Friction-Drive Micro-Mechanisms for Planar, Nano-Scale Locomotion, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Design and modeling of a micromechanism for generating planar, nano-scaled locomotion is the subject of this thesis. First, we introduced the concepts and fundamental definitions used throughout the thesis. Then, based on the classification of the locomotion principles employed in microrobots, the related literature about design and fabrication of different microrobots is investigated. Inertial slip generation and contact force variation, as the preferred group, is utilized for further analysis. Since friction force is the main propelling source in the microrobot’s locomotion principle, different models proposed for this phenomenon are investigated and the Coulomb friction model is selected...
Cataloging briefDesign and Analysis of Vibration-Based, Friction-Drive Micro-Mechanisms for Planar, Nano-Scale Locomotion, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Design and modeling of a micromechanism for generating planar, nano-scaled locomotion is the subject of this thesis. First, we introduced the concepts and fundamental definitions used throughout the thesis. Then, based on the classification of the locomotion principles employed in microrobots, the related literature about design and fabrication of different microrobots is investigated. Inertial slip generation and contact force variation, as the preferred group, is utilized for further analysis. Since friction force is the main propelling source in the microrobot’s locomotion principle, different models proposed for this phenomenon are investigated and the Coulomb friction model is selected...
Find in contentBookmark
|
|