Friction models for a mobile machine using piezo vibration

K. Tani
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引用次数: 5

Abstract

Micro-machines and micro-robots, recently under development for medical and industrial applications, need both manipulative and locomotive capabilities. We built a small mobile machine which has two legs made of bimorph piezoelectric actuators. It proceeds by vibrating one leg and making selective use of the friction between the legs and the floor. Simulations were made to investigate the dynamics of its mobility using different friction models. The simulation results were compared with the movement of the machine measured using an accelerometer, which showed that the viscous friction model explains the movement better than the Coulomb friction model. Four-legged machines were also built and tested for multidimensional mobility.
基于压电振动的移动机械摩擦模型
最近正在开发用于医疗和工业应用的微型机器和微型机器人需要操纵和移动能力。我们制造了一个小型的移动机器,它有两个由双晶片压电驱动器组成的腿。它通过振动一条腿并选择性地利用腿与地板之间的摩擦来进行。采用不同的摩擦模型对其迁移动力学进行了仿真研究。将仿真结果与加速度计测量的机械运动进行了比较,结果表明,粘性摩擦模型比库仑摩擦模型更能解释机械运动。四条腿的机器也被制造出来并进行了多维移动测试。
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