Analysis and experiment of Stick-Slip Motion Principle in a Legged Microrobot
To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanisms vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm×l5mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis.
micro robot motion mechanism stick slip theory
Weida Li Juan Li Haiyan Hu Mantian Li Lining Sun
School of Mechanical and Electric Engineering Soochow University Suzhou,China State Key Laboratory of Robotics and Systen Harbin Institute of Technology Harbin,China
国际会议
The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)
哈尔滨
英文
328-332
2011-08-22（万方平台首次上网日期，不代表论文的发表时间）