On the force capabilities of centripetal force-actuated microrobotic platforms

Vartholomeos, P; Vlachos, K; Papadopoulos, E

dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:52Z
dc.date.available	2014-03-01T02:44:52Z
dc.date.issued	2007	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31988
dc.subject	Work Environment	en
dc.subject.other	Micromanipulation	en
dc.subject.other	Microrobotic platforms	en
dc.subject.other	Actuators	en
dc.subject.other	Force measurement	en
dc.subject.other	Micromanipulators	en
dc.subject.other	Motion control	en
dc.subject.other	Robotics	en
dc.title	On the force capabilities of centripetal force-actuated microrobotic platforms	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2007.363134	en
heal.identifier.secondary	4209238	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2007.363134	en
heal.publicationDate	2007	en
heal.abstract	In this paper a study is conducted on the force capabilities of centripetal force actuated microrobotic platforms. The aim is to exploit the centripetal forces generated by platform mounted vibrating micro-motors for micromanipulation purposes. First, an overview of the platform dynamics and motion capabilities is presented. The type of forces generated by the actuation mechanism as well as due to the impulsive interaction with the working environment are studied. Then design steps are proposed for (i) the reduction or elimination of undesired impulsive forces, (ii) the attenuation of the force ripple transmitted to the manipulated object. The outcome is a smooth, controllable force transmitted to the manipulated object. A cantilever is mounted on the platform and preliminary experiments are conducted. © 2007 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2007.363134	en
dc.identifier.spage	1116	en
dc.identifier.epage	1121	en