Dynamics, Design and Simulation of a Novel Microrobotic Platform Employing Vibration Microactuators

[+] Author and Article Information
Panagiotis Vartholomeos, Evangelos Papadopoulos

Department of Mechanical Engineering, National Technical University of Athens, Athens 157 80, Greece

J. Dyn. Sys., Meas., Control 128(1), 122-133 (Nov 15, 2005) (12 pages) doi:10.1115/1.2168472 History: Received April 01, 2005; Revised November 15, 2005

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.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Simplified 1-DOF platform with rotating mass m

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Figure 2

Forces applied to the 1-DOF platform

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Figure 3

(a) Platform base, (b) vibrating motor, 8mm long

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Figure 4

Actuation and reaction forces applied to the platform

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Figure 5

Actuation, reaction, and spring forces applied to the mass-spring model

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Figure 6

Schematic representation of the lump parameter model of the actuator

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Figure 7

Values of static friction limit and actuation forces

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Figure 8

A complete cycle during closed orbit operation

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Figure 9

A complete cycle during locomotion mode of operation

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Figure 10

The five motion states of the platform

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Figure 11

Program flowchart

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Figure 12

Closed orbit simulation

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Figure 13

Friction forces applied on legs A, B, and C

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Figure 14

Pure translation at an angle of 120deg with respect to the x-axis

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Figure 15

Pure rotation about the z-axis

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Figure 16

Displacement when motors rotate at a phase difference of 5deg

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Figure 17

Transient response of the platform during translational motion

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Figure 18

Plots of the displacement along the x-axis

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Figure 19

Plot of the angle of the platform




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