Dynamics, design and simulation of a novel microrobotic platform employing vibration microactuators

Vartholomeos, P; Papadopoulos, E

dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:24:02Z
dc.date.available	2014-03-01T01:24:02Z
dc.date.issued	2006	en
dc.identifier.issn	0022-0434	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17178
dc.subject	Micropositioning	en
dc.subject	Miniature robot	en
dc.subject	Vibration motors	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Instruments & Instrumentation	en
dc.subject.other	Computer simulation	en
dc.subject.other	Design	en
dc.subject.other	Position control	en
dc.subject.other	Robotics	en
dc.subject.other	Vibration control	en
dc.subject.other	Micromotors	en
dc.subject.other	Micropositioning	en
dc.subject.other	Miniature robot	en
dc.subject.other	Vibration motors	en
dc.subject.other	Microactuators	en
dc.title	Dynamics, design and simulation of a novel microrobotic platform employing vibration microactuators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1115/1.2168472	en
heal.identifier.secondary	http://dx.doi.org/10.1115/1.2168472	en
heal.language	English	en
heal.publicationDate	2006	en
heal.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 1.5 mm/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 unteth-ered mode using simple means, such as single-cell batteries. Copyright © 2006 by ASME.	en
heal.publisher	ASME-AMER SOC MECHANICAL ENG	en
heal.journalName	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME	en
dc.identifier.doi	10.1115/1.2168472	en
dc.identifier.isi	ISI:000236439100014	en
dc.identifier.volume	128	en
dc.identifier.issue	1	en
dc.identifier.spage	122	en
dc.identifier.epage	133	en