Analysis and design of a novel mini-platform employing vibration micro-motors

Vartholomeos, P; Papadopoulos, E

dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:43:07Z
dc.date.available	2014-03-01T02:43:07Z
dc.date.issued	2005	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31242
dc.subject	Dynamic simulation	en
dc.subject	Micro-positioning	en
dc.subject	Vibration motors	en
dc.subject.other	Computer aided design	en
dc.subject.other	Computer simulation	en
dc.subject.other	Mathematical models	en
dc.subject.other	Microactuators	en
dc.subject.other	Micrometers	en
dc.subject.other	Sliding mode control	en
dc.subject.other	Dynamic simulations	en
dc.subject.other	Micro positioning	en
dc.subject.other	Rotational sliding	en
dc.subject.other	Vibration motors	en
dc.subject.other	Robot programming	en
dc.title	Analysis and design of a novel mini-platform employing vibration micro-motors	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2005.1570672	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2005.1570672	en
heal.identifier.secondary	1570672	en
heal.publicationDate	2005	en
heal.abstract	This paper presents the analysis and design of a novel mini-robotic platform that is able to perform translational and rotational sliding with sub-micrometer positioning accuracy and develop velocities up to 1.5 mm/s. The platform actuation system employs vibration micromotors. The dynamic model of the platform and of its actuation system is presented, and analytical expressions are derived which provide design guidelines for the platform. Simulations are performed which verify the analytical results and demonstrate the platform capabilities. The platform design is simple, compact and of low cost. Also the energy supply of the mechanism can be accomplished in an untethered mode using simple means such as single cell batteries. © 2005 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2005.1570672	en
dc.identifier.volume	2005	en
dc.identifier.spage	3627	en
dc.identifier.epage	3632	en