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On the force capabilities of centripetal force-actuated microrobotic platforms

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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


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