Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot
The motion of a stick-slip microrobot propelled by its piezoelectric unimorph legs is mathematically modeled. Using a continuously distributed mass model for the robot's body, the working equation of the mechanism is derived based on the assumption of linear Euler-Bernoulli beam theory and line...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2010-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/9704 |