NDLI: Friction drive microrobots: Dynamic analysis and performance evaluation

Content Provider	IEEE Xplore Digital Library
Author	Eigoli, A.K. Vossoughi, G.R.
Copyright Year	2011
Description	Author affiliation: Mechanical engineering department, Sharif University of Technology, Tehran, Iran (Eigoli, A.K.) \|\| Center of Excellence in Design, Robotics, and Automation, Sharif University of Technology, 11365-9567, Tehran, Iran (Vossoughi, G.R.)
Abstract	In this paper, we analytically investigate the dynamic modeling of a nonlinear microrobot based on the “friction drive principle”. The superposition of a horizontal vibration at the interface between the robot and work floor and an active variation of friction force, obtained by the vertical vibration of the base, makes the robot to move on the substrate. Periodic solutions obtained from the harmonic balance method can predict the contribution of the friction coefficient on the average velocity of the slider. Unlike traditional analytical techniques and in agreement with both numerical simulations and experiments reported in the literature, results show that the maximum average velocity occurs at a phase shift that varies with respect to system's configuration parameters. We have shown that the velocity of the device increases linearly with the relative amplitude of vibrations, whereas the step efficiency of motion, as a performance criterion, can be independently controlled by the driving frequency.
Starting Page	5505
Ending Page	5510
File Size	440196
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979730
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Vibrations Robots Mathematical model Equations Force Harmonic analysis
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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