A piezoelectric-driven inchworm locomotion device

Lobontiu, Nicolae; Goldfarb, Michael; Garcia, Ephrahim

doi:10.1016/s0094-114x(00)00056-2

Cited by 62 publications

(23 citation statements)

References 12 publications

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“…The accuracy of the obtained solution directly depends on the number of terms used in this approximation. Substituting (12) into (11) and equating the coefficients of each of the lowest harmonic terms to zero, we achieve a set of equations to be solved for the unknown constants.…”

Section: Harmonic Balance Methodsmentioning

confidence: 99%

“…However, the complicated nature of the friction phenomenon often prevents the microrobotic researchers from developing analytical studies on the concept of friction-based locomotion principles [2,[9][10][11][12][13]. Although it is more elaborate to obtain an analytic solution than a numerical one for a given nonlinear problem, the analytical studies retain their convenience, specifically for simplifying the effect of complicated nonlinearities in terms of some simple expressions.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic analysis of microrobots with Coulomb friction using harmonic balance method

Eigoli

Vossoughi

2011

Nonlinear Dyn

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In this paper, we investigate the dynamic analysis of a strongly nonlinear microrobot using a three-term harmonic balance method. The employed locomotion concept, namely "friction drive principle," is based on the superposition of a horizontal vibration at the interface between the robot and work floor and an active variation of friction force, obtained by the vertical vibration of the base at the same interface. The equation of motion for the system reveals a parametrically excited oscillator with discontinuity for which the elastic force term is proportional to a signum function. The obtained periodic solution not only is of high accuracy, but also can predict the contribution of the friction coefficient in the average velocity of the slider. Results show that the velocity and the step efficiency of motion depend almost sinusoidally on the phase shift between the horizontal and the vertical vibration. Unlike traditional analytical techniques and in agreement with both numerical simulations and experimental results reported in the literature, the utilized method demonstrates that the maximum average velocity occurs at a phase shift that varies with respect to system's configuration parameters. Besides, the effect of variation of different configuration parameters on the behavior of this type of microrobots has been studied and the maximum achievable performance in terms of velocity and the step efficiency has been evaluated.

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Section: Harmonic Balance Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of microrobots with Coulomb friction using harmonic balance method

Eigoli

Vossoughi

2011

Nonlinear Dyn

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“…The major innovative feature of the actuator is a novel type of clamping principle that uses the self-locking effect between each pair of clamping surfaces to firmly clamp the mover (Wu et al 1996;Sun and rong 2001;Zhang et al 2006;Kim et al 2002;lobontiu et al 2001; awabdy et al…”

Section: Design and Analysismentioning

confidence: 99%

Design and driving characteristic researches of a novel bionic stepping piezoelectric actuator with large load capacity based on clamping blocks

et al. 2014

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“…SMA actuators have a significantly lower bandwidth than peizoelectric actuators, which would limit the stepping frequency of the microrobot. Piezoelectric actuation has previously been shown to be successful for locomotion at this scale (Lobontiu et al 2001 andSahai et al 2006), and was determined to be the best option for this microrobot. The actuator placed parallel to the horizontal plane lifts each leg, while the actuator situated perpendicular to the horizontal plane rotates the segment about the stance foot.…”

Section: Notional Designmentioning

confidence: 99%

Myriapod-like ambulation of a segmented microrobot

Hoffman

Wood

2011

Auton Robot

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Segmented myriapod-like bodies may offer performance benefits over more common fixed body morphologies for ambulation. Here, the design of a segmented ambulatory microrobot with a flexible backbone is presented. A dynamic model describing the motion of the microrobot is used to determine body parameters. A three-segment microrobot was fabricated using the Smart Composite Microstructures process and piezoelectric bimorph actuators, and forward locomotion on a flat surface was demonstrated. The footprint of the 750 mg microrobot is 3.5 by 3.5 cm, and it has potential advantages over rigid body hexapedal microrobots in climbing, versatility, and stability.

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A piezoelectric-driven inchworm locomotion device

Cited by 62 publications

References 12 publications

Dynamic analysis of microrobots with Coulomb friction using harmonic balance method

Dynamic analysis of microrobots with Coulomb friction using harmonic balance method

Design and driving characteristic researches of a novel bionic stepping piezoelectric actuator with large load capacity based on clamping blocks

Myriapod-like ambulation of a segmented microrobot

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