Dynamics, Design and Simulation of a Novel Microrobotic Platform Employing Vibration Microactuators

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Abstract
This paper presents the analysis, design, and simulation of a novel microrobotic platform that is able to perform translational and rotational sliding with submicrometer positioning accuracy and develop velocities up to 1.5mm∕s. The platform actuation system is novel and based on centripetal forces generated by vibration micromotors. The motion principle is discussed in detail, and the dynamic model of the platform and of its actuation system is developed. Analytical expressions for the distinct modes of operation of the platform are derived and used to provide system design guidelines. Simulations are performed that verify the analytical results, demonstrate the platform capabilities, and examine its transient response. The microrobot design is simple, compact, and of low cost. In addition, the energy supply of the mechanism can be accomplished in an untethered mode using simple means, such as single-cell batteries.

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