Analysis and experiments on the force capabilities of centripetal-force-actuated microrobotic platforms

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dc.contributor.author Vartholomeos, P en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T01:27:55Z
dc.date.available 2014-03-01T01:27:55Z
dc.date.issued 2008 en
dc.identifier.issn 1552-3098 en
dc.identifier.uri http://hdl.handle.net/123456789/18637
dc.subject Force feedback en
dc.subject Micromanipulation en
dc.subject Microrobotics en
dc.subject Vibrating micromotors en
dc.subject.classification Robotics en
dc.subject.other Construction industry en
dc.subject.other Dynamic models en
dc.subject.other Dynamic programming en
dc.subject.other Equations of motion en
dc.subject.other Experiments en
dc.subject.other Micromanipulators en
dc.subject.other Nonlinear equations en
dc.subject.other Software prototyping en
dc.subject.other (+ mod 2N) operation en
dc.subject.other (2+1)-dimensional en
dc.subject.other (I ,J) conditions en
dc.subject.other Actuation forces en
dc.subject.other Design and construction en
dc.subject.other Direct use en
dc.subject.other Force capabilities en
dc.subject.other Force-feedback en
dc.subject.other Manipulated objects en
dc.subject.other Micro manipulations en
dc.subject.other motion mechanisms en
dc.subject.other Parameter values en
dc.subject.other Physical parameters en
dc.subject.other simulation results en
dc.subject.other system parameters en
dc.subject.other Manipulators en
dc.title Analysis and experiments on the force capabilities of centripetal-force-actuated microrobotic platforms en
heal.type journalArticle en
heal.identifier.primary 10.1109/TRO.2008.919298 en
heal.identifier.secondary http://dx.doi.org/10.1109/TRO.2008.919298 en
heal.language English en
heal.publicationDate 2008 en
heal.abstract This paper studies the capabilities of a microrobotic platform, driven by vibrating motors, to generate and impart micromanipulation forces of desired type and magnitude. First, an analysis is carried out on the nature of the actuation forces of the motion mechanism of the platform. The results demonstrate that the oscillating nature of these forces does not allow their direct use for micromanipulations. Consequently, further analysis is conducted to identify the conditions, under which the platform's actuation forces can be exploited for micromanipulations. To this end, a dynamic model of a single-dimensional pushing operation is developed, comprising the dynamics of the platform, the manipulator and the object. It is demonstrated by simulation that the forces imparted on the manipulated object depend on the physical parameters of the platform-manipulator system. Accordingly, a set of nonlinear equations involving platform-manipulator system parameters, is formulated that describes the conditions for developing micromanipulation forces of appropriate type and magnitude. The solution of this set of equations yields a range of parameter values, which are used as guidelines in the design and construction of a manipulator that is capable of applying smooth and controllable forces to manipulated objects. Using the parameter values suggested by the developed analysis, a needle type manipulator, appropriate for force feedback applications, is designed, built, and mounted on an experimental prototype of the microrobotic platform. Using this manipulator, experiments demonstrate the force capabilities of the microrobotic platform and verified the analytical and simulation results. © 2008 IEEE. en
heal.journalName IEEE Transactions on Robotics en
dc.identifier.doi 10.1109/TRO.2008.919298 en
dc.identifier.isi ISI:000256966900007 en
dc.identifier.volume 24 en
dc.identifier.issue 3 en
dc.identifier.spage 588 en
dc.identifier.epage 599 en

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