Dynamic modeling of a bidirectional magnetoelastic rotary micro-motor

Qu, Jinhong; Tang, Jun; Gianchandani, Yogesh B.; Oldham, Kenn R.; Green, Scott R.

doi:10.1016/j.sna.2014.12.029

Cited by 5 publications

(4 citation statements)

References 33 publications

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“…In other words, the model successfully predicts the approximate range and frequency of impact events, even as robot scaling leads to more complex interactions between the robot and the ground. This phenomenon is similar to behavior previously observed in a magnetoelastic impact motor with similar modeling applied, which also showed bouncing of the rotor every few cycles of stator vibration [7].…”

Section: Model Results Versus Experimental Resultssupporting

confidence: 88%

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Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Teeple

Oldham

2017

Journal of Vibration and Acoustics

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A dynamic model is developed for small-scale robots with multiple high-frequency actuated compliant elastic legs and a rigid body. The motion of the small-scale robots results from dual-direction motion of piezoelectric actuators attached to the legs, with impact dynamics increasing robot locomotion complexity. A dynamic model is developed to describe the small-scale robot motion in the presence of variable properties of the underlying terrain. The dynamic model is derived from beam theory with appropriate boundary and loading conditions and considers each robot leg as a continuous structure moving in two directions. Robot body motion is modeled in up to five degrees-of-freedom (DOF) using a rigid body approximation for the central robot chassis. Individual modes of the resulting multimode robot are treated as second-order linear systems. The dynamic model is tested with two different centimeter-scale robot prototypes having an analogous actuation scheme to millimeter-scale microrobots. In accounting for the interaction between the robot and ground, a dynamic model using the first two modes of each leg shows good agreement with experimental results for the centimeter-scale prototypes, in terms of both magnitude and the trends in robot locomotion with respect to actuation conditions.

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Section: Model Results Versus Experimental Resultssupporting

confidence: 88%

“…Understanding the dynamics of walking microrobots is important for design, estimation, and control of efficient locomotion [7]. However, what work has been done on dynamic, small-scale robot locomotion has varied dramatically based on robot design, actuation principles, and operating environment.…”

Section: Introductionmentioning

confidence: 99%

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Teeple

Oldham

2017

Journal of Vibration and Acoustics

Self Cite

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“…e structure of the mechanism was optimized by the sequential quadratic rule, and the experiment results show that the optimization method is very effective [29]. A flexible micro-mechanism with two-directional rotary motion driven by Giant Magnetostrictive Actuator was proposed, and the dynamic model of mechanism parameters was given based on the dynamic model establishment [30]. A new chip-level comb-drive magnifying micro-drive platform with three degrees of freedom (X-, Y-, and Z-directions) was designed, and the platform can achieve large displacements of 25.2 µm in x-direction, 20.4 µm in y-direction, and 58.5 µm in z-direction [31].…”

Section: Introductionmentioning

confidence: 99%

Design and Error Compensation Performance of a Precision Micro-Drive Rotary System

Jing

Guo

et al. 2021

Mathematical Problems in Engineering

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In order to obtain motion with large travel and high precision, the micro-drive system is used to compensate for the motion error of the macro-drive system in the macro/micro dual-drive system. The research on the micro-drive rotary system lags behind the micro-drive linear system, so it is of great significance to study the designing and error compensation performance of a precision micro-drive rotary system. In this paper, a precision micro-drive rotary system is designed, the error compensation scheme of the system is proposed, and the system feasibility in design and error compensation is tested by FEM simulation analysis and performance experiments. Firstly, a precision micro-drive rotary system is designed to provide high-precision rotary motion, which consists of a micro rotary mechanism and PZT. In the system, the micro rotary mechanism is developed based on the compound motion principle of flexure hinge, which can accurately transform an input of linear motion into an output of rotary motion according to a certain relationship. Secondly, for finishing the error compensation scheme of the system, the maximum compensation modifier θ max ′ is proposed based on the analysis of error compensation equations of point-to-point motion and continuous motion. Finally, in order to facilitate the use of engineering, the driven voltage equation of error compensation is derived by the error compensation performance experiment. The simulation and experiment results indicate that both the design and error-compensation-range of the system satisfy the needs of practical application.

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“…A flexible micro mechanism with two-direction rotary motion driven by a giant magnetostrictive actuator has been proposed. The dynamic model of the mechanical parameters is given based on dynamic model establishment [ 23 ]. Xue et al designed a new chip-level comb-drive magnified micro-drive platform with 3-DOF (degrees of freedom), and the maximum displacements of the platform in three directions were 25.2 μm × 20.4 μm × 58.5 μm [ 24 ].…”

Section: Introductionmentioning

confidence: 99%

Positioning Performance of a Sub-Arc-Second Micro-Drive Rotary System

Zhang

Yang

et al. 2021

Micromachines

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In the macro/micro dual-drive rotary system, the micro-drive system compensates for the position error of the macro-drive system. To realize the sub-arc-second (i.e., level of 1″–0.1″) positioning of the macro/micro dual-drive rotary system, it is necessary to study the positioning performance of the sub-arc-second micro-drive rotary system. In this paper, we designed a sub-arc-second micro-drive rotary system consisting of a PZT (piezoelectric actuator) and a micro rotary mechanism, and used simulation and experimental methods to study the positioning performance of the system. First, the micro-drive rotary system was developed to provide ultra-precise rotary motion. In this system, the PZT has ultrahigh resolution at a level of 0.1 nanometers in linear motion; a micro rotating mechanism was designed according to the composite motion principle of the flexible hinge, which could transform the linear motion of piezoelectric ceramics into rotating motion accurately. Second, the drive performance was analyzed based on the drive performance experiment. Third, kinematics, simulation, and experiments were carried out to analyze the transformation performance of the system. Finally, the positioning performance equation of the system was established based on the two performance equations, and the maximum rotary displacements and positioning error of the system were calculated. The study results showed that the system can provide precision motion at the sub-arc-second and good linearity of motion. This study has a certain reference value in ultra-precision positioning and micromachining for research on rotary motion systems at the sub-arc-second level.

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Dynamic modeling of a bidirectional magnetoelastic rotary micro-motor

Cited by 5 publications

References 33 publications

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Design and Error Compensation Performance of a Precision Micro-Drive Rotary System

Positioning Performance of a Sub-Arc-Second Micro-Drive Rotary System

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