Investigating the Design Parameters and Simulation of a Piezo-actuated Vibratory Micro-robot in Hybrid Motion

Abstract

Abstract In this paper, a complete dynamics model of a vibratory micro-robot has been investigated by considering both the dynamics of actuators and jump phenomena. The actuators of this micro-robot are piezo-electric. The main motion mechanism of this micro-robot is based on the principle of the friction drive. But due to the nature of piezo-electric actuators (high frequency), situations sometimes occur where the micro-robot encounters the phenomenon of jumping, and the principle of the friction drive no longer applies. Combining the principle of friction drive with the phenomenon of jumping creates a hybrid dynamic motion, which is called the principle of stick-slip-jump. Modeling and motion simulation based on this principle, adding the dynamic model of piezo-electric actuators, are very complicated, especially when the micro-robot impacts moving substrate. In this research, along with complete modeling of the micro-robot in stick-slip-jump motion and extracting the effective design parameters, the ability to model this complex dynamic for the exact simulation of the micro-robot's behavior has been verified experimentally.