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 1.5mms. 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.

1.
Breguet
,
J.-M.
, and
Clavel
,
R.
, 1998, “
Stick and Slip Actuators: Design, Control, Performances and Applications
,”
Proc. International Symposium on Micromechatronics and Human Science (MHS)
, Nagoya,
IEEE
, N.Y., pp.
89
95
.
2.
Schmoeckel
,
F.
, and
Fatikow
,
S.
, 2000, “
Smart Flexible Microrobots for Scanning Electron Microscope (SEM) Applications
,”
J. Intell. Mater. Syst. Struct.
1045-389X,
11
(
3
), pp.
191
198
.
3.
Schmoeckel
,
F.
, and
Worn
,
H.
, 2001, “
Remotely Controllable Mobile Micro-Robots Acting as Nano Positioners and Intelligent Tweezers in Scanning Electron Microscopes (SEMs)
,”
Proc. International Conference on Robotics and Automation
, Seoul,
IEEE
, N.Y., May 21–26, pp.
3903
3913
.
4.
Büchi
,
R.
,
Zesch
,
W.
, and
Codourey
,
A.
, 1995, “
Inertial Drives for Micro- and Nanorobots: Analytical Study
,”
Proc. SPIE
0277-786X,
2593
, pp.
89
97
.
5.
Codourey
,
A.
,
Zesch
,
W.
,
Buchi
,
R.
, and
Siegwart
,
R.
, 1995, “
A Robot System for Automated Handling in Micro-World
,”
Proc. International Conference on Intelligent Robots and Systems
, Pittsburgh,
IEEE
, N.Y., Aug. pp.
3185
3191
.
6.
Martel
,
S.
,
Sherwood
,
M.
,
Helm
,
C.
,
Garcia de Quevedo
,
W.
,
Fofonoff
,
T.
,
Dyer
,
R.
,
Bevilacqua
,
J.
,
Kaufman
,
J.
,
Roushdy
,
O.
, and
Hunter
,
I.
, 2001, “
Three-Legged Wireless Miniature Robots for Mass-scale Operations at the Sub-atomic Scale
,”
Proc. 2001 IEEE International Conference on Robotics & Automation
, Seoul, May 21–26,
IEEE
,
New York
, pp.
3423
3428
.
7.
Simu
,
U.
, 2002, “
Piezoactuators for Miniature Robots
,” Doctoral thesis, Department of Materials Science, Uppsala University.
8.
Simu
,
U.
, and
Johansson
,
S.
, 2002, “
Fabrication of Monolithic Piezoelectric Drive Units for Miniature Robot
,”
J. Micromech. Microeng.
0960-1317,
12
, pp.
582
589
.
9.
Simu
,
U.
, and
Johansson
,
S.
, 2002, “
Evaluation of a Monolithic Piezoelectric Drive Unit for a Miniature Robot
,”
Sens. Actuators, A
0924-4247,
30
, pp.
175
184
.
10.
Aoyama
,
H.
, and
Fuchiwaki
,
O.
, 2001, “
Flexible Micro-Processing by Multiple Micro Robots in SEM
,”
Proc. 2001 IEEE International Conference on Robotics & Automation
, Seoul, Korea, May 21–26, pp.
3429
3434
.
11.
Lee
,
Y.
,
Kim
,
B.
,
Lee
,
M.
, and
Park
,
J.-O.
, 2004, “
Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot Using Shape Memory Alloy
,”
Proc. 2004 IEEE International Conference on Robotics & Automation
, New Orleans, April,
IEEE
,
New York
, pp.
5007
5012
.
12.
Technology Review, 2004, “
Nanomanipulator
,”
MIT Technol. Rev.
, Oct. pp.
80
84
.
13.
Fumiya
,
I.
,
Raja
,
D.
, and
Chandana
,
R.
, 2002, “
Design and Control of a Pendulum Driven Hopping Robot
,”
Proc. 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’02)
, Vol.
3
,
IEEE
,
New York
, pp.
2141
2146
.
14.
Caprari
,
G.
,
Arras
,
K. O.
, and
Siegwart
,
R.
, 2000, “
The Autonomous Miniature Robot Alice: From Prototypes to Applications
,”
Proc. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’00)
,
IEEE
,
New York
, pp.
793
798
.
15.
Papadopoulos
,
E.
, and
Papadimitriou
,
I.
, 2001, “
Modelling, Design and Control of a Portable Washing Machine During the Spinning Cycle
,”
Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics System (AIM 2001)
, Como, Italy,
IEEE
, N.Y., pp.
899
904
.
16.
Badami
,
V. V.
, and
Chibat
,
N. W.
, 1998, “
Home Appliances Get Smart
,”
IEEE Spectrum
0018-9235,
35
(
8
), pp.
36
43
.
17.
Papadopoulos
,
E.
, and
Chasparis
,
G.
, 2004, “
Analysis and Model-Based Control of Servomechanisms With Friction
,”
ASME J. Dyn. Syst., Meas., Control
0022-0434,
126
(
4
), pp.
911
915
.
18.
Sciavicco
,
L.
, and
Siciliano
,
B.
, 2001,
Modelling and Control of Robot Manipulators
,
Springer-Verlag
,
Berlin
.
19.
Wildi
,
T.
, 2002,
Electrical Machines, Drives, and Power Systems
,
5th ed.
,
Prentice-Hall
,
Englewood Cliffs, NJ
.
You do not currently have access to this content.