Design and analysis of a novel micro-robot driving platform

Abstract

This paper presents a design of a micro-robot driving platform that can perform two-dimensional motions on the horizontal plane using only one single vibration motor. This device uses the centrifugal force and the friction force between the horizontal supporting plane and the device as the driving force. The device has the advantages of simple structure, miniaturization and low cost and it is easy to hermetic seal. It could be used in the small space and the environment that requires good hermetic sealing performance of the device. In this paper, the dynamic analysis of the device is carried out and the experiment results verified the correctness of the analysis and the feasibility of the design above, and the motion of the device is proved controllable.

Inertial Propulsion of a Mobile Platform Driven by Two Eccentric Bodies

“…However, from a strictly mechanical point of view, the following controversy exists: since inertial forces are internal forces, the rotation of the masses does not produce an external force (thrust) that would accelerate the center of mass of the system. Nevertheless, many scientists [7][8][9] have made an effort to address this contentious issue, and even NASA has carried out a six-year research program in this area [10], but providing only qualitative information.…”

Inertial Propulsion Devices: A Review

“…In general, the inertial drive induces centripetal forces which may overcome the static friction thus causing motion. This is a rather old story which has been applied to vibrational transportation [7][8][9][10][11], and to micro-and nano-robots [102][103][104][105][106][107]. Later, the concept of Dean drive (although not clearly mentioned therein) was applied to the modeling and control of micro-robotic systems by Vartholomeos and Papadopoulos [108,109].…”

Inertial Propulsion Devices: A Review

“…In general, the inertial drive induces centripetal forces which may overcome the static friction, thus causing motion. This is a rather old story, which has been applied to vibrational transportation [7][8][9][10][11] and to micro-and nano-robots [101][102][103][104][105][106]. Later, the concept of Dean drive (although not clearly mentioned therein) was applied to the modeling and control of micro-robotic systems by Vartholomeos and Papadopoulos [107,108].…”