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Design and Analysis of Vibration-Based, Friction-Drive Micro-Mechanisms for Planar, Nano-Scale Locomotion

Kamali Eigoli, Ali | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42065 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. 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 as the preferred model. Nonlinear equations of planar motion of the microrobot moving on a solid substrate are analytically solved, and the effect of different configuration parameters influencing the motion of the microrobot is comprehensively addressed. Consequently, some simple guidelines are developed for the design and control of such microrobots. For example, the velocity and step efficiency of the microrobots can be independently controlled by the relative amplitudes of exciting forces and the working frequency, respectively. Using the above-mentioned analyses, we introduce a novel, piezoelectric-driven A-shaped microrobot and evaluate it based on three criteria including velocity, resolution, and power consumption. The experimental results of a simple prototype of the proposed scheme are also presented. Finally, the contribution of this work to the field of mobile microrobotics is restated, and the major results and conclusions and prospect of future work are addressed.
  9. Keywords:
  10. Micro Robot ; Design ; Modeling ; Dynamic Analysis ; Planar Motion ; Submicron Resolution

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  • thesis print
    • PhD Thesis for print
    • Dynamic analysis of microrobots with Coulomb friction using harmonic balance method
      • Dynamic analysis of microrobots with Coulomb friction using harmonic balance method
        • Abstract
        • Introduction
        • Modeling and governing equations
        • Harmonic balance method
        • Results and discussion
        • Conclusions
        • References
    • piezoelectric_driven_microrobot
  • thesis print
  • thesis print
    • PhD Thesis for print
    • Dynamic analysis of microrobots with Coulomb friction using harmonic balance method
      • Dynamic analysis of microrobots with Coulomb friction using harmonic balance method
        • Abstract
        • Introduction
        • Modeling and governing equations
        • Harmonic balance method
        • Results and discussion
        • Conclusions
        • References
    • piezoelectric_driven_microrobot
...see more