In this paper, the stick–slip motion of a microrobot with two perpendicular vibrational actuators is studied. This motion is based on the friction drive principle. To determine the effective parameters in the motion of microrobot, the equations of motion of the microrobot are derived. To simplify the equations for determining the design parameters, the vibrational actuators are modeled with two perpendicular harmonic forces. To study the motion dynamics of the microrobot, its equation of motion is derived in a nondimensional expression by defining the nondimensional effective parameters. The Fourier expansion (F.E.) method is used to analyze the numerical results and it showed some differences between the obtained results and the studies performed by the harmonic balance (H.B.) method. The discussion about motion characteristics of microrobot is done by defining the mean velocity and performance coefficient of the stick–slip motion. Finally, a practical model of this microrobot is designed and fabricated with two piezo-electric actuators, and then, the motion capability of the microrobot is verified by test.
Motion Analysis of a Vibrational Microrobot With Two Perpendicular Harmonic Actuators and Deriving the Design Parameters in Stick–Slip Mode
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received December 9, 2014; final manuscript received June 24, 2015; published online August 26, 2015. Assoc. Editor: Daniel J. Segalman.
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Jalili, H., Vossoughi, G., and Salarieh, H. (August 26, 2015). "Motion Analysis of a Vibrational Microrobot With Two Perpendicular Harmonic Actuators and Deriving the Design Parameters in Stick–Slip Mode." ASME. J. Comput. Nonlinear Dynam. March 2016; 11(2): 021003. https://doi.org/10.1115/1.4030941
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