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Chaos study of a vibratory micro-robot in hybrid motion

Jalili, H ; Sharif University of Technology | 2015

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  1. Type of Document: Article
  2. DOI: 10.1007/s11071-015-2243-6
  3. Publisher: Kluwer Academic Publishers , 2015
  4. Abstract:
  5. 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 equation of motion and investigating the dynamic response, we find the micro-robot motion is chaotic, related to the restitution factor of the motion substrate and the ratio of vertical force to micro-robot weight
  6. Keywords:
  7. Chaos ; Hybrid motion ; Micro-robot ; Stick-slip principle ; Stick-slip-jump mode ; Vibrational actuator ; Actuators ; Chaos theory ; Robots ; Slip forming ; Stick-slip ; Equation of motion ; Jump modes ; Motion mechanisms ; Vertical force ; Equations of motion
  8. Source: Nonlinear Dynamics ; Volume 82, Issue 3 , November , 2015 , Pages 1355-1378 ; 0924090X (ISSN)
  9. URL: http://link.springer.com/article/10.1007%2Fs11071-015-2243-6