Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot
The motion of a stick-slip microrobot propelled by its piezoelectric unimorph legs is mathematically modeled. Using a continuously distributed mass model for the robot's body, the working equation of the mechanism is derived based on the assumption of linear Euler-Bernoulli beam theory and line...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2010-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/9704 |
| _version_ | 1818063143039926272 |
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| author | Ali Kamali Eigoli GholamReza Vossoughi |
| author_facet | Ali Kamali Eigoli GholamReza Vossoughi |
| author_sort | Ali Kamali Eigoli |
| collection | DOAJ |
| description | The motion of a stick-slip microrobot propelled by its piezoelectric unimorph legs is mathematically modeled. Using a continuously distributed mass model for the robot's body, the working equation of the mechanism is derived based on the assumption of linear Euler-Bernoulli beam theory and linear piezoelectric behavior. Moreover, the required condition for generating net motion is calculated in terms of physical characteristics of the microrobot. It is demonstrated that the higher the friction constant, then a lower average speed is obtained. Also, it is shown that a microrobot with heavier legs can move in a rougher environment. Regardless of the mass proportion between robot's main body and its legs, a certain level of speed can, always, be achieved. The proposed results will be well suited to design, construct, and control the microrobots moving with piezoelectric benders, as their feet. |
| first_indexed | 2024-12-10T14:15:25Z |
| format | Article |
| id | doaj.art-4a1e2f566c294c5091a1b6b2d1cb1498 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T14:15:25Z |
| publishDate | 2010-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-4a1e2f566c294c5091a1b6b2d1cb14982022-12-22T01:45:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142010-09-01710.5772/970410.5772_9704Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven MicrorobotAli Kamali Eigoli0GholamReza Vossoughi1 PhD Student, Department of Mechanical Engineering, Sharif University of Technology Associated Professor and Member, Center of Excellence in Design, Robotics, and Automation, Sharif University of TechnologyThe motion of a stick-slip microrobot propelled by its piezoelectric unimorph legs is mathematically modeled. Using a continuously distributed mass model for the robot's body, the working equation of the mechanism is derived based on the assumption of linear Euler-Bernoulli beam theory and linear piezoelectric behavior. Moreover, the required condition for generating net motion is calculated in terms of physical characteristics of the microrobot. It is demonstrated that the higher the friction constant, then a lower average speed is obtained. Also, it is shown that a microrobot with heavier legs can move in a rougher environment. Regardless of the mass proportion between robot's main body and its legs, a certain level of speed can, always, be achieved. The proposed results will be well suited to design, construct, and control the microrobots moving with piezoelectric benders, as their feet.https://doi.org/10.5772/9704 |
| spellingShingle | Ali Kamali Eigoli GholamReza Vossoughi Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot International Journal of Advanced Robotic Systems |
| title | Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot |
| title_full | Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot |
| title_fullStr | Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot |
| title_full_unstemmed | Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot |
| title_short | Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot |
| title_sort | dynamic modeling of stick slip motion in a legged piezoelectric driven microrobot |
| url | https://doi.org/10.5772/9704 |
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