Locomotion modes of a novel piezo-driven microrobot: Analytical modeling and performance evaluation

Eigoli, Ali Kamali; Vossoughi, Gholamreza

doi:10.1016/j.mechmachtheory.2012.01.010

Cited by 11 publications

(3 citation statements)

References 21 publications

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“…(6), (7), and (10), we observe that the motion of micro-robot is related to α, μ 0 /μ, ϕ, β and e. According to Eqs. (5) and (8), we obtain that the horizontal velocity of micro-robot is directly proportional to the friction coefficient and inversely related to the frequency of stimulation (applied forces).…”

Section: Modeling and Deriving Equations Of Hybrid Motion Of The Micrmentioning

confidence: 93%

“…This principle has two parts: the slip generation and the slip variation [2,3]. There exist various mechanisms to generate the slip and to vary the slip in each cycle, such as: shape memory alloy actuators [6], piezoelectric actuators [7], magnetic actuators [8], electrostatic actuators [9], thermal actuators [10], and rotary centripetal force actuators [11]. The friction coefficient of the surface is very effective in this type of motion.…”

Section: Introductionmentioning

confidence: 99%

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Chaos study of a vibratory micro-robot in hybrid motion

2015

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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.

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Section: Modeling and Deriving Equations Of Hybrid Motion Of The Micrmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Chaos study of a vibratory micro-robot in hybrid motion

2015

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“…The piezoelectric actuators usually use the inverse piezoelectric effect to convert the electrical energy into the vibration mechanical energy [1], and have long been investigated extensively and applied successfully in lots of fields [2]- [4]. Compared with the traditional electromagnetic motors, the piezoelectric actuators have the advantages of no electromagnetic radiation, self-locking, high power weight ratio, high displacement resolution [5]- [8], making it suitable for robots [9]- [11], high-precision machines [12]- [15], nanopositioning stages [16]- [18], optical instruments [16]- [18], bioengineer [19]- [21], and invasive surgery [12], [25], [26].…”

Section: Introductionmentioning

confidence: 99%

Design and Experiments of a Novel Rotary Piezoelectric Actuator Using Longitudinal–Torsional Convertors

et al. 2019

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A bolt-clamped type piezoelectric actuator, which could output rotary motions by using longitudinal-torsional hybrid vibration, was proposed and tested in this paper. The proposed actuator is mainly composed of a piezoelectric stack, a leftward bending longitudinal-torsional convertor (LBLTC), and a rightward bending longitudinal-torsional convertor (RBLTC). The piezoelectric stack, which is clamped between the LBLTC and RBLTC, is utilized to generate longitudinal vibration under exciting of a sinusoidal signal with a certain frequency. The two convertors transform part of the longitudinal vibration generated by the piezoelectric stack into the torsional vibration and generate elliptical motions at the ends of the driving tips, which can push the rotors to rotate step by step. The structure of the proposed actuator was designed, and the working principle for the rotary driving was analyzed. Then, modal, harmonic, and transient analyses were carried out by the finite element method to determine the structural dimensions of the convertors and verify the movement trajectories of the driving tips. Finally, a prototype was fabricated, and its vibration and output characteristics were tested. The experimental results indicated that the maximum no-load speed and maximum torque of the actuator were 342 r/min and 0.072 N•m under the preload of 11 N and the voltage of 300 V P-P. The simulation and experimental results verified the feasibility of the proposed actuator.

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