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

Abstract:

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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:

Edited by:

Jianjun Xu, Pin Wang and Zhigang Fang

Pages:

531-534

DOI:

10.4028/www.scientific.net/AMM.733.531

Citation:

Q. M. Wang et al., "Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion", Applied Mechanics and Materials, Vol. 733, pp. 531-534, 2015

Online since:

February 2015

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$38.00

* - Corresponding Author

[1] Zhishan Duan, the Equation of Motion Establishment and Kinematic Analysis of Frog Rammer, Journal of Mechanical Design, Vol. 3, (1984).

[2] Zhishan Duan and Bangchun Wen, Nonlinear Dynamic analysis and Appropriate Speed Determination of Frog Rammer, Construction Machinery and Equipment, Vol. 11, (1979).

[3] Panagiotis Vartholomeos, Kostas Vlachos and Ecangrlos Papadopoulos, Analysis and Motion Control of a Centrifugal-Force Microrobotic Platform, transaction science and engineering, Vol. 10 (2013), No. 3.

DOI: 10.1109/tase.2013.2248083

[4] Karnopp D. Computer simulation of stick-slip friction in mechanical dynamic systems. ASME J Dyn Sys Mea Cont, Vol. 107 (1985), pp.100-103.

DOI: 10.1115/1.3140698

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