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

Vartholomeos, P; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	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