Steering and Non-steering Crawling Tetrahedral Micro-mechanisms

  • D. MărgineanuEmail author
  • E.-C. Lovasz
  • K.-H. Modler
  • C. M. Gruescu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 30)


Crawling mechanical structures with energetic autonomy and remote control may move and steer by sliding on the ground. The paper presents a study on simple possibilities to achieve sliding movement with a crawling tetrahedral structure and studies their movement capabilities both analytically and by MBS simulation. The structures are analyzed using an equivalent plane model and a 3d model, respectively. The analysis is structural, kinematical, static and dynamic.


Piezo-actuators Hysteresis Micro-mechanisms Multi body system simulation 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • D. Mărgineanu
    • 1
    Email author
  • E.-C. Lovasz
    • 1
  • K.-H. Modler
    • 2
  • C. M. Gruescu
    • 1
  1. 1.Department of MechatronicsUniversity Politehnica TimisoaraTimisoaraRomania
  2. 2.Institut für Leichtbau und KunststofftechnikTechnical University DresdenDresdenGermany

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