On the forward and backward motion of milli-bristlebots

Kim, DeaGyu; Hao, Zhijian; Mohazab, Ali Reza; Ansari, Azadeh

doi:10.1016/j.ijnonlinmec.2020.103551

Cited by 20 publications

(10 citation statements)

References 7 publications

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“…The bristles are oriented to give the robot a preferred direction of motion (linear or even curved [9]) when actuated by vertical vibrations of either the robot body or the surface the robot stands on [8]. Moreover, the direction of motion can be controlled and even reversed by changing the actuation mode (vibration amplitude and frequency) [10].…”

Section: B Outline Of Practical Realizationmentioning

confidence: 99%

“…In this contribution, we propose a framework that entirely reverts this tendency -a self-assembled structure increases its stability with increasing size. We provide a theoretical justification of the framework, outline its practical realization using bristle-bots, e.g., [8], [9], [10], and employ physicsbased simulations to compare chessboard patterns obtained by a common approach of shaking in the horizontal plane and the proposed self-stabilizing approach.…”

Section: Introductionmentioning

confidence: 99%

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Self-Stabilizing Self-Assembly

Jílek¹,

Stránská²,

Somr³

et al. 2022

Preprint

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The emerging field of passive macro-scale tilebased self-assembly (TBSA) holds promise for enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, the current TBSA methodology still does not fulfill its potential, largely because such assemblies are typically error-prone and the size of an individual assembly is limited by a lack of mechanical stability. Moreover, the instability issue becomes worse as assemblies become larger. Here, using a novel type of tile that is carried by a bristle-bot drive, we propose a framework that reverts this tendency; i.e., as an assembly grows, it becomes more stable. Using physicsbased computational experiments, we show that a system of such tiles indeed possesses self-stabilizing characteristics and enables building assemblies containing hundreds of tiles. These results indicate that one of the main current limitations of mechanical, agitation-based TBSA approaches might be overcome by employing a swarm of free-running sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.

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Section: B Outline Of Practical Realizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Self-Stabilizing Self-Assembly

Jílek¹,

Stránská²,

Somr³

et al. 2022

Preprint

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“…The novel design of the Brushbot is proposed in [3], where the authors carried out the mathematical modeling and experimental investigations on its dynamics. A thorough analysis of the possibilities of providing the bidirectional motion conditions of the bristle-robot is performed in [4]. Another prospective design of the hybrid soft actuator converting the centrifugal forces generated by the unbalanced vibration exciter into the propulsion force of the elastic spikes (bristles) is studied in [5].…”

Section: Introductionmentioning

confidence: 99%

Dynamics of mobile robot equipped with inertial vibration exciter and unidirectionally rotating wheels

Korendiy

Kachur

Gursky

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot’s wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot’s dynamic diagram and deriving the motion equations followed by numerical modelling in the Mathematica software; designing the 3D-model and simulating the robot motion in the SolidWorks software; creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot’s body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot’s design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with the vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc.

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“…The fabrication of miniature sub-gram robots is a remarkable feat, where different fabrication technologies and actuation techniques have demonstrated encouraging results [4][5][6][7]. Alternatively, 3D printing is a promising approach that allows for the manufacture of 3D objects by successive layer-by-layer deposition with high resolution and flexibility in geometry and materials [8][9][10][11]. When dealing with miniature robots, the minimum feature size of the 3D printing technique is a major determinant of the accuracy of the design.…”

Section: Introductionmentioning

confidence: 99%

3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications

et al. 2021

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The miniaturization of robots with locomotion abilities is a challenge of significant technological impact in many applications where large-scale robots have physical or cost restrictions. Access to hostile environments, improving microfabrication processes, or advanced instrumentation are examples of their potential use. Here, we propose a miniature 20 mm long sub-gram robot with piezoelectric actuation whose direction of motion can be controlled. A differential drive approach was implemented in an H-shaped 3D-printed motor platform featuring two plate resonators linked at their center, with built-in legs. The locomotion was driven by the generation of standing waves on each plate by means of piezoelectric patches excited with burst signals. The control of the motion trajectory of the robot, either translation or rotation, was attained by adjusting the parameters of the actuation signals such as the applied voltage, the number of applied cycles, or the driving frequency. The robot demonstrated locomotion in bidirectional straight paths as long as 65 mm at 2 mm/s speed with a voltage amplitude of only 10 V, and forward and backward precise steps as low as 1 µm. The spinning of the robot could be controlled with turns as low as 0.013 deg. and angular speeds as high as 3 deg./s under the same conditions. The proposed device was able to describe complex trajectories of more than 160 mm, while carrying 70 times its own weight.

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On the forward and backward motion of milli-bristlebots

Cited by 20 publications

References 7 publications

Self-Stabilizing Self-Assembly

Self-Stabilizing Self-Assembly

Dynamics of mobile robot equipped with inertial vibration exciter and unidirectionally rotating wheels

3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications

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