Abstract
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.
Highlights
The growing interest in microrobotics leads to emersion of numerous possible applications of miniaturized robots in fields such as medicine, observation and inspection, micro manipulation, defense, micro-biology, and search and rescue (Driesen, W. et al, 2007; Ebefors, T. et al, 1999; Breguet, J.-M. et al, 2007)
To characterize the complex motion of the microrobot, we define two average values: the step length (d) and the average speed, both of which are calculated within one period
A simple guideline was found for generating net motion in terms of robot's physical characteristics, friction coefficient, and applied electric voltage
Summary
The growing interest in microrobotics leads to emersion of numerous possible applications of miniaturized robots in fields such as medicine, observation and inspection, micro manipulation, defense, micro-biology, and search and rescue (Driesen, W. et al, 2007; Ebefors, T. et al, 1999; Breguet, J.-M. et al, 2007). This calls for developing different locomotion concepts and actuation mechanisms which can provide fast motion as well as highly precise resolutions. The effect of the mass distribution between the robot's main body and its legs on the average velocity is examined and some predictions for appropriate operating conditions of the microrobot are provided
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