Dynamic modeling and control of a conveyance microrobotic system using active friction drive

Ferreira, Antoine; Fontaine, Jean‐Guy

doi:10.1109/tmech.2003.812822

Cited by 17 publications

(8 citation statements)

References 23 publications

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“…A standing wave bi-directional linearly moving miniature piezoelectric robot is presented in [26]- [28]. Ferreira et al in [29], [30] presents a multi-degree of freedom standing wave miniature piezoelectric robot. A traveling wave miniature piezoelectric robot for bi-directional motion is presented by Hariri et al in [31]- [33].…”

Section: Introductionmentioning

confidence: 99%

2-D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

Hariri

Bernard

Razek

2018

IEEE/ASME Trans. Mechatron.

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In this paper, a concept design of a novel Traveling Wave Driven Piezoelectric Plate Robot (TWDPPR) for planar motion is presented. The TWDPPR consists of an aluminium plate structure, with four non-collocated piezoelectric patches bonded on its surface. A two dimensions modeling of noncollocated piezoelectric patches bonded on thin structures developed and validated in previous work is used in this paper to model the TWDPPR based on the "two modes excitation" method for propulsion. A preliminary design is presented and the model is then used to verify the generation of the 2D traveling wave on the plate for planar motion. A prototype is fabricated and a forward, backward, & steering motions are experimentally achieved. An experimental characterization of the TWDPPR is given in this paper.

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Section: Introductionmentioning

confidence: 99%

2-D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

Hariri

Bernard

Razek

2018

IEEE/ASME Trans. Mechatron.

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“…Later, it was followed by a smooth impact linear motor [14] and rotation motor [15]. Although there is not a consensus in successor reports on how to name these motors [16][17][18][19][20][21], we will prefer inertial drive motor (IDM) since it is the most general term that refers to the operating principle.…”

Section: Inertial Drive Motorsmentioning

confidence: 99%

“…The planar agility makes this kind of motors quite suitable for transport in micro domain and micro positioning [17,18,[21][22][23],…”

Section: • Planar Piezoelectric Motorsmentioning

confidence: 99%

Single Source Hybrid Drive for Multi-Functional Ultrasonic Motor

Tuncdemir

Bai

Uchino

2014

Integrated Ferroelectrics

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We previously reported a multi-functional single-stator piezoelectric motor, which can produce translational or rotary motions in a simple structure. In this paper, we will present the theoretical analysis and experimental verification o f the hybrid driving technique fo r this motor. In order to benefit from the resonance operating conditions o f ultrasonic motors and the structural superiority o f inertial type piezoelectric motors, we blend these two drive methods as the new hybrid technique. Translational and rotary motions o f mobile element are produced by inertial drive while the stator is excited with rectangular signals at longitudinal and torsional resonance frequencies, respectively.

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“…Different reports combined piezoelectric materials with legs to attain locomotion [11][12][13]. For those robots whose movement relies on the generation of stationary waves, millimeter-sized legged devices have already been reported [14][15][16]. Furthermore, in the case of traveling waves, the state of the art involves the locomotion of 180-mm long plates actuated by piezoelectric patches, without using legs [17,18].…”

Section: Introductionmentioning

confidence: 99%

Motion of a Legged Bidirectional Miniature Piezoelectric Robot Based on Traveling Wave Generation

et al. 2020

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This article reports on the locomotion performance of a miniature robot that features 3D-printed rigid legs driven by linear traveling waves (TWs). The robot structure was a millimeter-sized rectangular glass plate with two piezoelectric patches attached, which allowed for traveling wave generation at a frequency between the resonant frequencies of two contiguous flexural modes. As a first goal, the location and size of the piezoelectric patches were calculated to maximize the structural displacement while preserving a standing wave ratio close to 1 (cancellation of wave reflections from the boundaries). The design guidelines were supported by an analytical 1D model of the structure and could be related to the second derivative of the modal shapes without the need to rely on more complex numerical simulations. Additionally, legs were bonded to the glass plate to facilitate the locomotion of the structure; these were fabricated using 3D stereolithography printing, with a range of lengths from 0.5 mm to 1.5 mm. The optimal location of the legs was deduced from the profile of the traveling wave envelope. As a result of integrating both the optimal patch length and the legs, the speed of the robot reached as high as 100 mm/s, equivalent to 5 body lengths per second (BL/s), at a voltage of 65 Vpp and a frequency of 168 kHz. The blocking force was also measured and results showed the expected increase with the mass loading. Furthermore, the robot could carry a load that was 40 times its weight, opening the potential for an autonomous version with power and circuits on board for communication, control, sensing, or other applications.

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Dynamic modeling and control of a conveyance microrobotic system using active friction drive

Cited by 17 publications

References 23 publications

2-D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

2-D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

Single Source Hybrid Drive for Multi-Functional Ultrasonic Motor

Motion of a Legged Bidirectional Miniature Piezoelectric Robot Based on Traveling Wave Generation

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