DocumentCode :
3328093
Title :
Analysis and experiment of stick-slip motion principle in a legged microrobot
Author :
Weida Li ; Juan Li ; Haiyan Hu ; Mantian Li ; Lining Sun
Author_Institution :
Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China
Volume :
1
fYear :
2011
fDate :
22-24 Aug. 2011
Firstpage :
328
Lastpage :
332
Abstract :
To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanism´s vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm×15mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis.
Keywords :
legged locomotion; microrobots; robot dynamics; stick-slip; vibrations; dual locomotion principles; friction force; impact principle; legged microrobot; mass 3 g; numerical simulation; size 0.896 mm; size 15 mm; size 35 mm; size 70 mm; slip phase; static analysis; stick-slip motion principle; sticky phase; transient dynamic analysis; vibration; voltage 10 V; Actuators; Assembly; Equations; Lead; Nanoscale devices; Robots; Sun; micro robot; motion mechanism; stick slip theory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Strategic Technology (IFOST), 2011 6th International Forum on
Conference_Location :
Harbin, Heilongjiang
Print_ISBN :
978-1-4577-0398-0
Type :
conf
DOI :
10.1109/IFOST.2011.6021033
Filename :
6021033
Link To Document :
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