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Study of a piezo-electric actuated vibratory micro-robot in stick-slip mode and investigating the design parameters

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Abstract

In this paper, the stick-slip motion of a new type of micro-robot with two perpendicular vibratory actuators is studied which is based on the friction drive principle. The actuators are based on piezo-electric phenomenon which are driven by a harmonic voltage, and both of them are mounted on the micro-robot body. These actuators cause the micro-robot moves forward or backward due to the specified phase difference between the voltages applied to vertical and horizontal actuators. Since the dynamics of the actuators affects on the micro-robot motion, so to derive the equations of motion the coupled dynamics between the body of robot and vibratory masses of actuators are considered, and the motion dynamics of the micro-robot is investigated by considering the piezo-actuators effects. After deriving the governing equations of motion, the operative parameters of the piezo-actuated micro-robot, which affect the motion dynamics, are defined in non-dimensional forms and studied for the first time. The Fourier expansion method is used to analyze the numerical results, and the discussion about the motion characteristics of the micro-robot is presented by defining the mean velocity and performance coefficient of the micro-robot stick-slip motion. At last, a simple practical model of this micro-robot is designed and fabricated with two Langevin-type piezo-electric actuators, and then the motion capability of the micro-robot is verified qualitatively by test.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

    Hadi Jalili, Hassan Salarieh & Gholamreza Vossoughi

Authors
  1. Hadi Jalili
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  2. Hassan Salarieh
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  3. Gholamreza Vossoughi
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Correspondence to Hassan Salarieh.

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Jalili, H., Salarieh, H. & Vossoughi, G. Study of a piezo-electric actuated vibratory micro-robot in stick-slip mode and investigating the design parameters. Nonlinear Dyn 89, 1927–1948 (2017). https://doi.org/10.1007/s11071-017-3562-6

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  • DOI: https://doi.org/10.1007/s11071-017-3562-6

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