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Locomotion Principles for Microrobots Based on Vibrations

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Microactuators and Micromechanisms

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 45))

Abstract

Microrobotics is a growing field with great advances in recent years. New applications in the fields of medicine, biology, manufacturing and maintenance technologies are developed. They require mobile systems with enhanced motion abilities. The present paper concerns principles of terrestrial locomotion for vibration-driven microrobots. Such systems are characterized by an internal periodic excitation, which is transformed to a directed motion due to asymmetric system properties. An extensive overview on the state of the art shows the great potential of the vibration-driven locomotion for miniaturized applications in technics. To perform a controllable two-dimensional locomotion with only one actuator, it is needed to overcome limits of rigid body systems. The proposed approach uses the frequency-dependent vibration behavior of elastic systems, like beams and plates. Experimental investigations are supported by finite element method. It is shown that the two-dimensional locomotion on a flat and solid ground can be controlled by only one actuator using the resonance characteristics of elastic systems.

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Acknowledgments

The research work reported here was partly supported by Deutsche Forschungsgemeinschaft Grant ZI 540/19-1.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Technical Mechanics Group, Technische Universität Ilmenau, Ilmenau, Germany

    F. Becker, O. Kunze & K. Zimmermann

  2. Department of Construction and Production of Instruments, Belarusian National Technical University, Minsk, Belarus

    V. Lysenko & V. T. Minchenya

Authors
  1. F. Becker
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  2. V. Lysenko
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  3. V. T. Minchenya
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  4. O. Kunze
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  5. K. Zimmermann
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Corresponding author

Correspondence to F. Becker .

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Editors and Affiliations

  1. Dept of Mechanism Tech, Technische Universität Ilmenau, Ilmenau, Thüringen, Germany

    Lena Zentner

  2. Inst Getriebetechnik und Maschinen, RWTH Aachen University Inst Getriebetechnik und Maschinen, Aachen, Nordrhein-Westfalen, Germany

    Burkhard Corves

  3. 435 CTB, Brigham Young University 435 CTB, Provo, Utah, USA

    Brian Jensen

  4. Faculty of Mechanical Engg, Universitatea Politehnica Timişoara, Timişoara, Romania

    Erwin-Christian Lovasz

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Becker, F., Lysenko, V., Minchenya, V.T., Kunze, O., Zimmermann, K. (2017). Locomotion Principles for Microrobots Based on Vibrations. In: Zentner, L., Corves, B., Jensen, B., Lovasz, EC. (eds) Microactuators and Micromechanisms. Mechanisms and Machine Science, vol 45. Springer, Cham. https://doi.org/10.1007/978-3-319-45387-3_9

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  • DOI: https://doi.org/10.1007/978-3-319-45387-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-45386-6

  • Online ISBN: 978-3-319-45387-3

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