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 |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/dynamic-modeling-of-stick-slip-motion-in-a-legged-piezoelectric-driven-microrobot |