Motion type analysis of a piezoelectric-actuated vibratory micro-robot in hybrid stick-slip-jump mode
作者： Hadi Jalili , Hassan Salarieh , Gholamreza Vossoughi
DOI: 10.1016/J.JSV.2018.08.024
关键词:
摘要: Abstract In this paper, the stick-slip-jump motion of a micro-robot with two perpendicular vibratory actuators is studied. A practical model designed and fabricated Langevin type piezoelectric actuators, which are driven by harmonic voltages. Depending on amplitude frequency driving voltages as well their phase difference, dynamics states contact points in (slipping or jumping) determined. Considering conditions micro-robot, based combination friction drive principle (stick-slip) jumping phenomenon. finite element used to investigate mode. Because there exist various motions mode, exact analytical study very complicated. Therefore, study, (stick-slip-jump) condition for start movement have been investigated determined FEM (Finite Element Method) analysis.
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