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Predicting average velocity of a non-linear sliding microrobot

Eigoli, A. K ; Sharif University of Technology | 2011

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  1. Type of Document: Article
  2. DOI: 10.1177/0954406211408952
  3. Publisher: 2011
  4. Abstract:
  5. Among the locomotion concepts employed in the microrobotics, friction-based locomotion principles are of considerable importance. In this study, the dynamic modelling of friction drive microrobots subjected to the tangential and normal excitations is investigated, which have the same frequency, but are shifted in phase. The motion equation of the microrobot reveals a strongly non-linear differential equation with discontinuity for which the elastic force term is proportional to a signum function. Using the homotopy perturbation method, simple expressions are derived for predicting average velocity of the slider. The obtained results are in good agreement with those achieved from numerical integration of the full equation and experimental results, reported in the literature. Using the concept of step efficiency, some useful guidelines for the design and control of this type of microrobots are provided
  6. Keywords:
  7. Coulomb friction ; Average velocity ; Coulomb frictions ; Design and control ; Dynamic modelling ; Elastic force ; Friction drive ; Homotopy perturbation method ; In-phase ; Locomotion principles ; Micro robotics ; Microrobots ; Nonlinear differential equation ; Numerical integrations ; Signum function ; Simple expression ; Data communication equipment ; Friction ; Numerical methods ; Perturbation techniques ; Tribology ; Equations of motion
  8. Source: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science ; Volume 225, Issue 9 , 2011 , Pages 2044-2051 ; 09544062 (ISSN)
  9. URL: http://pic.sagepub.com/content/225/9/2044