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This paper presents the dynamic analysis and speed control of a novel micro-robotic platform that is able to move with sub-micrometer positioning accuracy at velocities up to 1.5 mm/s. The platform actuation system employs vibration micro-motors. The motion principle is discussed. The dynamic model of the platform and of its actuation system is dev...
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Context 1
... motion principle is first demonstrated using a simplified single degree-of-freedom (DOF) mobile platform of mass M. The motion mechanism employs an eccentric mass m rotated by a motor O mounted on the platform as shown in Fig. 1. It is assumed that the mass m rotates on a vertical plane at constant angular speed ω , about point O and that the platform is constrained to move along the y-axis only. One cycle of operation is completed when the mass has described an angle of . Gravitational and centripetal forces exerted on the rotating mass are resolved along the ...
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Citations
... The micro-robot mentioned above used three tiny-shaking motors to control the total DOF for the system. In [6], they studied the speed control of the new micro-robot platform run by vibrational motors. Moreover, in [7], they examined the simulated performance of the mentioned system equipped with three vibrational micro-actuators. ...
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are two tiny shaking motors which have been utilized to run the micro-class robotic system. Dynamic modeling equations are expressed by considering the spring coefficient of the bases. After that, the effect of the spring on the foundations was investigated. In addition to designing neural-based controller, an AI-based system identifier has been developed to help the controller update its parameters and achieve its desired targets. Using this method, several specific paths for the movement of this micro robot are simulated. Based on the simulation results, the proposed controlling strategy guarantees acceptable performance for tracking different paths due to plotted near-zero errors and handles the nonlinear behavior of the micro-robot system.
... The presented micro-robot benefits from three miniature-vibrating motors to control all degrees of freedom of the system. Then, in [6], they investigated the speed control of the novel micro-platform driven by vibrating motors. Furthermore, in [7], they simulated the performance of the novel micro-robotic platform employing three vibrating micro-actuators. ...
In this paper, an optimal nonlinear control scheme based on the application of ant colony optimization (ACO) is applied to a micro-robot equipped with vibratory actuators. Accordingly, two small vibrating motors are utilized to run the micro-robot and the motion principle of stick-slip is used for locomotion purpose. First, a dynamic model of the micro-robot is derived considering the stiffness of the robot’s legs. Then, the influences of robot mass and length of legs on micro-robot motion are studied using simulation. Next, an optimal linear PID control scheme is applied to the micro-robot system. However, it is found that this control method does not have an acceptable performance when friction is low or the system is under disturbance. Consequently, an ACO-based optimal nonlinear PID control is proposed to cope with the mentioned drawbacks as the main contribution of the paper. Afterwards, the performance of both control techniques is compared through simulation. Finally, the micro-robot is developed and experimentally evaluated. It is found that the experimental results are in a good agreement with some of the simulation outcomes through which the validity of the mathematical scheme as well as the feasibility of design is affirmed.
