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TECHNICAL PAPERS

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

[+] Author and Article Information

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

## Abstract

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 $1.5mm∕s$. 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.

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## Figures

Figure 1

Simplified 1-DOF platform with rotating mass m

Figure 2

Forces applied to the 1-DOF platform

Figure 3

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

Figure 4

Actuation and reaction forces applied to the platform

Figure 5

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

Figure 6

Schematic representation of the lump parameter model of the actuator

Figure 7

Values of static friction limit and actuation forces

Figure 8

A complete cycle during closed orbit operation

Figure 9

A complete cycle during locomotion mode of operation

Figure 10

The five motion states of the platform

Figure 11

Program flowchart

Figure 12

Closed orbit simulation

Figure 13

Friction forces applied on legs A, B, and C

Figure 14

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

Figure 15

Figure 16

Displacement when motors rotate at a phase difference of 5deg

Figure 17

Transient response of the platform during translational motion

Figure 18

Plots of the displacement along the x-axis

Figure 19

Plot of the angle of the platform

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