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Research Papers

Motion Analysis of a Vibrational Microrobot With Two Perpendicular Harmonic Actuators and Deriving the Design Parameters in Stick–Slip Mode

[+] Author and Article Information
Hadi Jalili

Department of Mechanical Engineering,
Sharif University of Technology,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: hadi.jalili.n@gmail.com

Gholamreza Vossoughi

Department of Mechanical Engineering,
Sharif University of Technology,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: vossough@sharif.edu

Hassan Salarieh

Department of Mechanical Engineering,
Sharif University of Technology,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: salarieh@sharif.edu

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received December 9, 2014; final manuscript received June 24, 2015; published online August 26, 2015. Assoc. Editor: Daniel J. Segalman.

J. Comput. Nonlinear Dynam 11(2), 021003 (Aug 26, 2015) (10 pages) Paper No: CND-14-1313; doi: 10.1115/1.4030941 History: Received December 09, 2014

In this paper, the stick–slip motion of a microrobot with two perpendicular vibrational actuators is studied. This motion is based on the friction drive principle. To determine the effective parameters in the motion of microrobot, the equations of motion of the microrobot are derived. To simplify the equations for determining the design parameters, the vibrational actuators are modeled with two perpendicular harmonic forces. To study the motion dynamics of the microrobot, its equation of motion is derived in a nondimensional expression by defining the nondimensional effective parameters. The Fourier expansion (F.E.) method is used to analyze the numerical results and it showed some differences between the obtained results and the studies performed by the harmonic balance (H.B.) method. The discussion about motion characteristics of microrobot is done by defining the mean velocity and performance coefficient of the stick–slip motion. Finally, a practical model of this microrobot is designed and fabricated with two piezo-electric actuators, and then, the motion capability of the microrobot is verified by test.

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References

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Figures

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Fig. 1

(a) Schematic of the microrobot and (b) motion pattern of the microrobot body [23]

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Fig. 2

Free diagram of the microrobot

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Fig. 6

The sensitivity of nondimensional mean velocity of the microrobot (A0) with respect to: (a) 1% increment in α versus α; (b) 1% increment in μ0/μ versus μ0/μ; and (c) 1 deg increment in ϕ versus ϕ

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Fig. 3

Velocity assignment in one cycle

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Fig. 4

(a) Nondimensional x displacement and (b) nondimensional x velocity

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Fig. 5

Comparison between amplitude of the first-order (A1: circle line) and higher-order terms of the F.E. (A2A5: continuous lines) for the microrobot nondimensional velocity: (a) versus α; (b) versus μ0/μ; and (c) versus ϕ

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Fig. 7

Performance coefficient of the microrobot: (a) versus α and (b) versus μ0/μ; nondimensional mean velocity of the microrobot: (c) versus α and (d) versus μ0/μ (plus dashed line is the H.B. result)

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Fig. 8

Amplitude of the nondimensional velocity of the microrobot (A1): (a) versus α and (b) versus μ0/μ; phase difference of the microrobot nondimensional velocity (ϕ1) with respect to vertical applied force: (c) versus α and (d) versus μ0/μ (circle continuous line is the F.E. approximation result and plus dashed line is the H.B. result)

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Fig. 9

Performance coefficient of the microrobot: (a) versus ϕ and α and (b) versus ϕ and μ0/μ; nondimensional mean velocity of the microrobot: (c) versus ϕ and α and (d) versus ϕ and μ0/μ (plus dashed line is the H.B. result)

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Fig. 10

Amplitude of the nondimensional velocity of the microrobot (A1): (a) versus ϕ and α and (b) versus ϕ and μ0/μ; phase difference of the microrobot nondimensional velocity (ϕ1) with respect to vertical applied force: (c) versus ϕ and α and (d) versus ϕ and μ0/μ (circle continuous line is the F.E. approximation result and plus dashed line is the H.B. result)

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Fig. 11

(a) Microrobot with two perpendicular piezo-electric actuators; (b) microrobot configuration and dimensions (mm); (c) the first and the second resonance frequencies of piezo-electric actuators of the microrobot; and (d) microrobot velocity with respect to applied voltages and surface slope in the first resonance frequency

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