Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion

Qing Ming Wang; Wu Ming Zhang; Jia Chen Ju

doi:10.4028/www.scientific.net/AMM.733.531

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 733Kinematics and Dynamics Analysis of a...

Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion

Abstract:

In this paper, we make the kinematics and dynamics analysis of a micro-robotic platform [3] driven by inertial force generated by eccentric masses. We establish the mathematical model and get the displacement, velocity and acceleration relationships of the platform. According to movement and stability requirements of the micro-robotic platform, we get a conclusion that the minimum angular velocity of the motor when the platform moves and the maximum angular velocity of the motor when the platform jumps.

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Periodical:

Applied Mechanics and Materials (Volume 733)

Pages:

531-534

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.733.531

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Online since:

February 2015

Authors:

Qing Ming Wang*, Wu Ming Zhang, Jia Chen Ju

Keywords:

Inertial Force Propulsion, Lagrange Equation, Micro-Robotic Platform

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References

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