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Motion analysis of a vibrational micro-robot with two perpendicular harmonic actuators and deriving the design parameters in stick-slip-jump mode
Jalili, H ; Sharif University of Technology | 2016
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- Type of Document: Article
- DOI: 10.1016/j.jsv.2016.02.022
- Publisher: Academic Press , 2016
- Abstract:
- 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 is simulated. Then, its design parameters are derived and the condition of motion capability is determined. At last, a practical model of this micro-robot is designed and fabricated with two piezo-electric actuators, and then the motion of the micro-robot is verified by test
- Keywords:
- Coulomb dry friction ; Impact and separation ; Micro-robotStick-slip principle ; Stick-slip-jump mode ; Vibrational actuator ; Actuators ; Robots ; Separation ; Slip forming ; Stick-slip ; Design parameters ; Dry friction ; Hybrid motion ; Jump modes ; Micro-robotStick-slip principle ; Motion mechanisms ; New mechanisms ; Practical model ; Machine design
- Source: Journal of Sound and Vibration ; Volume 372 , 2016 , Pages 266-282 ; 0022460X (ISSN)
- URL: http://www.sciencedirect.com/science/article/pii/S0022460X16001656