Study of a piezo-electric actuated vibratory micro-robot in stick-slip mode and investigating the design parameters

摘要: In this paper, the stick-slip motion of a new type micro-robot with two perpendicular vibratory actuators is studied which based on friction drive principle. The are piezo-electric phenomenon driven by harmonic voltage, and both them mounted body. These cause moves forward or backward due to specified phase difference between voltages applied vertical horizontal actuators. Since dynamics affects motion, so derive equations coupled body robot masses considered, investigated considering piezo-actuators effects. After deriving governing operative parameters piezo-actuated micro-robot, affect dynamics, defined in non-dimensional forms for first time. Fourier expansion method used analyze numerical results, discussion about characteristics presented defining mean velocity performance coefficient motion. At last, simple practical model designed fabricated Langevin-type actuators, then capability verified qualitatively test.