Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications
This paper describes vibration-induced bidirectional locomotion of a milliscale cylindrical body. Using a laterally vibrating platform, we achieved a frequency controlled bidirectional movement by attaching two polydimethylsiloxane cylindrical rods with microscale ratchet-shaped legs of different de...
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| Veröffentlicht in: | IEEE transactions on robotics 2009-10, Vol.25 (5), p.1192-1196 |
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| creator | Zhenwen Ding Ziaie, B. |
| description | This paper describes vibration-induced bidirectional locomotion of a milliscale cylindrical body. Using a laterally vibrating platform, we achieved a frequency controlled bidirectional movement by attaching two polydimethylsiloxane cylindrical rods with microscale ratchet-shaped legs of different densities facing in opposite directions. The polymeric body (2 times 2 times 20 mm 3 ) was placed on a glass slide covered by thin lubricating oil and vibrated at a constant amplitude of 0.2 mm. The micromobile composite cylinder changed its direction of motion at a cross-over frequency of 156 Hz. The cross-over phenomena is due to the difference between static and kinetic friction coefficients of the two opposing parts. |
| doi_str_mv | 10.1109/TRO.2009.2017164 |
| format | Article |
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Using a laterally vibrating platform, we achieved a frequency controlled bidirectional movement by attaching two polydimethylsiloxane cylindrical rods with microscale ratchet-shaped legs of different densities facing in opposite directions. The polymeric body (2 times 2 times 20 mm 3 ) was placed on a glass slide covered by thin lubricating oil and vibrated at a constant amplitude of 0.2 mm. The micromobile composite cylinder changed its direction of motion at a cross-over frequency of 156 Hz. The cross-over phenomena is due to the difference between static and kinetic friction coefficients of the two opposing parts.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2009.2017164</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Assembly ; Assembly automation ; Automation ; Bidirectional ; Computer science; control theory; systems ; Control theory. Systems ; Cylinders ; Density ; Exact sciences and technology ; Frequency ; Friction ; friction drive ; Fundamental areas of phenomenology (including applications) ; Glass ; Joining processes ; Kinetic theory ; Leg ; linear actuator ; Locomotion ; Lubricating oils ; Lubrication ; Manufacturing engineering ; microrobotic ; Motion control ; Petroleum ; Physics ; Polymers ; ratchet motion ; Robotics ; Rods ; Solid mechanics ; Structural and continuum mechanics ; Vibration ; Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...) ; vibratory conveyer</subject><ispartof>IEEE transactions on robotics, 2009-10, Vol.25 (5), p.1192-1196</ispartof><rights>2009 INIST-CNRS</rights><rights>Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Oct 2009</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c496t-b6458636045a0fb29bda1a31168c064dd57c3f9496c5239b0081feeb69bbe0453</citedby><cites>FETCH-LOGICAL-c496t-b6458636045a0fb29bda1a31168c064dd57c3f9496c5239b0081feeb69bbe0453</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4814584$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4814584$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=22001760$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Zhenwen Ding</creatorcontrib><creatorcontrib>Ziaie, B.</creatorcontrib><title>Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>This paper describes vibration-induced bidirectional locomotion of a milliscale cylindrical body. Using a laterally vibrating platform, we achieved a frequency controlled bidirectional movement by attaching two polydimethylsiloxane cylindrical rods with microscale ratchet-shaped legs of different densities facing in opposite directions. The polymeric body (2 times 2 times 20 mm 3 ) was placed on a glass slide covered by thin lubricating oil and vibrated at a constant amplitude of 0.2 mm. The micromobile composite cylinder changed its direction of motion at a cross-over frequency of 156 Hz. The cross-over phenomena is due to the difference between static and kinetic friction coefficients of the two opposing parts.</description><subject>Applied sciences</subject><subject>Assembly</subject><subject>Assembly automation</subject><subject>Automation</subject><subject>Bidirectional</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Cylinders</subject><subject>Density</subject><subject>Exact sciences and technology</subject><subject>Frequency</subject><subject>Friction</subject><subject>friction drive</subject><subject>Fundamental areas of phenomenology (including applications)</subject><subject>Glass</subject><subject>Joining processes</subject><subject>Kinetic theory</subject><subject>Leg</subject><subject>linear actuator</subject><subject>Locomotion</subject><subject>Lubricating oils</subject><subject>Lubrication</subject><subject>Manufacturing engineering</subject><subject>microrobotic</subject><subject>Motion control</subject><subject>Petroleum</subject><subject>Physics</subject><subject>Polymers</subject><subject>ratchet motion</subject><subject>Robotics</subject><subject>Rods</subject><subject>Solid mechanics</subject><subject>Structural and continuum mechanics</subject><subject>Vibration</subject><subject>Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)</subject><subject>vibratory conveyer</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kc1rGzEQxUVpoK7Te6GXpZDmtOlopZWlo2PqJOASKEmuQtJqQUZeuZL34P--s7XJIYdc9MH85g3zHiFfKdxQCurn05_HmwZA4UEXVPAPZEYVpzVwIT_iu22bmoGSn8jnUrYADVfAZiS-BJvNIaShfhi60fmuWmf_d_SDO9arNBxyitHY6Kvb0IXs3YSaWG2SS7s0fao-5WpZit_ZeKzM0FW_g8spJ4tlVy33-xjc_wnlklz0Jhb_5XzPyfP619Pqvt483j2slpvacSUOtRW8lYIJ4K2B3jbKdoYaRqmQDgTvunbhWK-QdW3DlAWQtPfeCmWtxyY2J9cn3X1OuEo56F0ozuMig09j0VIqJmmDM-bkx7ska6FVrJkkv78Bt2nM6ETRaLgAimYjBCcI9y8l-17vc9iZfNQU9JSSxpT0lJI-p4QtV2ddU5yJfTaDC-W1r0GYLgQg9-3EBe_9a5lLilZx9g9s35tT</recordid><startdate>20091001</startdate><enddate>20091001</enddate><creator>Zhenwen Ding</creator><creator>Ziaie, B.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20091001</creationdate><title>Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications</title><author>Zhenwen Ding ; Ziaie, B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c496t-b6458636045a0fb29bda1a31168c064dd57c3f9496c5239b0081feeb69bbe0453</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Applied sciences</topic><topic>Assembly</topic><topic>Assembly automation</topic><topic>Automation</topic><topic>Bidirectional</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Cylinders</topic><topic>Density</topic><topic>Exact sciences and technology</topic><topic>Frequency</topic><topic>Friction</topic><topic>friction drive</topic><topic>Fundamental areas of phenomenology (including applications)</topic><topic>Glass</topic><topic>Joining processes</topic><topic>Kinetic theory</topic><topic>Leg</topic><topic>linear actuator</topic><topic>Locomotion</topic><topic>Lubricating oils</topic><topic>Lubrication</topic><topic>Manufacturing engineering</topic><topic>microrobotic</topic><topic>Motion control</topic><topic>Petroleum</topic><topic>Physics</topic><topic>Polymers</topic><topic>ratchet motion</topic><topic>Robotics</topic><topic>Rods</topic><topic>Solid mechanics</topic><topic>Structural and continuum mechanics</topic><topic>Vibration</topic><topic>Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)</topic><topic>vibratory conveyer</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhenwen Ding</creatorcontrib><creatorcontrib>Ziaie, B.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhenwen Ding</au><au>Ziaie, B.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2009-10-01</date><risdate>2009</risdate><volume>25</volume><issue>5</issue><spage>1192</spage><epage>1196</epage><pages>1192-1196</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>This paper describes vibration-induced bidirectional locomotion of a milliscale cylindrical body. Using a laterally vibrating platform, we achieved a frequency controlled bidirectional movement by attaching two polydimethylsiloxane cylindrical rods with microscale ratchet-shaped legs of different densities facing in opposite directions. The polymeric body (2 times 2 times 20 mm 3 ) was placed on a glass slide covered by thin lubricating oil and vibrated at a constant amplitude of 0.2 mm. The micromobile composite cylinder changed its direction of motion at a cross-over frequency of 156 Hz. The cross-over phenomena is due to the difference between static and kinetic friction coefficients of the two opposing parts.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2009.2017164</doi><tpages>5</tpages></addata></record> |
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| ispartof | IEEE transactions on robotics, 2009-10, Vol.25 (5), p.1192-1196 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Assembly Assembly automation Automation Bidirectional Computer science control theory systems Control theory. Systems Cylinders Density Exact sciences and technology Frequency Friction friction drive Fundamental areas of phenomenology (including applications) Glass Joining processes Kinetic theory Leg linear actuator Locomotion Lubricating oils Lubrication Manufacturing engineering microrobotic Motion control Petroleum Physics Polymers ratchet motion Robotics Rods Solid mechanics Structural and continuum mechanics Vibration Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...) vibratory conveyer |
| title | Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications |
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