This paper presents the analysis, design, and simulation of a novel microrobotic platform that is able to perform translational and rotational sliding with submicrometer positioning accuracy and develop velocities up to . The platform actuation system is novel and based on centripetal forces generated by vibration micromotors. The motion principle is discussed in detail, and the dynamic model of the platform and of its actuation system is developed. Analytical expressions for the distinct modes of operation of the platform are derived and used to provide system design guidelines. Simulations are performed that verify the analytical results, demonstrate the platform capabilities, and examine its transient response. The microrobot design is simple, compact, and of low cost. In addition, the energy supply of the mechanism can be accomplished in an untethered mode using simple means, such as single-cell batteries.
Skip Nav Destination
Article navigation
March 2006
Technical Papers
Dynamics, Design and Simulation of a Novel Microrobotic Platform Employing Vibration Microactuators
Panagiotis Vartholomeos,
Panagiotis Vartholomeos
Department of Mechanical Engineering,
National Technical University of Athens
, Athens 157 80, Greece
Search for other works by this author on:
Evangelos Papadopoulos
Evangelos Papadopoulos
Department of Mechanical Engineering,
National Technical University of Athens
, Athens 157 80, Greece
Search for other works by this author on:
Panagiotis Vartholomeos
Department of Mechanical Engineering,
National Technical University of Athens
, Athens 157 80, Greece
Evangelos Papadopoulos
Department of Mechanical Engineering,
National Technical University of Athens
, Athens 157 80, GreeceJ. Dyn. Sys., Meas., Control. Mar 2006, 128(1): 122-133 (12 pages)
Published Online: November 15, 2005
Article history
Received:
April 1, 2005
Revised:
November 15, 2005
Citation
Vartholomeos, P., and Papadopoulos, E. (November 15, 2005). "Dynamics, Design and Simulation of a Novel Microrobotic Platform Employing Vibration Microactuators." ASME. J. Dyn. Sys., Meas., Control. March 2006; 128(1): 122–133. https://doi.org/10.1115/1.2168472
Download citation file:
Get Email Alerts
Offline and online exergy-based strategies for hybrid electric vehicles
J. Dyn. Sys., Meas., Control
Optimal Control of a Roll-to-Roll Dry Transfer Process With Bounded Dynamics Convexification
J. Dyn. Sys., Meas., Control (May 2025)
In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control
Related Articles
Analysis of Fully Reversed Sequences of Rotations of a Free Rigid Body
J. Mech. Des (July,2004)
Modeling and Control of Electrostatically Actuated MEMS in the Presence of Parasitics and Parametric Uncertainties
J. Dyn. Sys., Meas., Control (November,2007)
Emerging Challenges of Microactuators for Nanoscale Positioning, Assembly, and Manipulation
J. Manuf. Sci. Eng (June,2010)
Optimal Sliding Mode Dual-Stage Actuator Control in Computer Disk Drives
J. Dyn. Sys., Meas., Control (July,2010)
Related Proceedings Papers
Related Chapters
Adaptive Tracking Control of Uncertain Electrostatic Micro-Actuators
International Conference on Information Technology and Computer Science, 3rd (ITCS 2011)
Design of Hopfield Neural Network Controller for an Inchworm Miniature Robot Locomotion
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Post-Revival
Air Engines: The History, Science, and Reality of the Perfect Engine