Dynamics and Control of a Novel Microrobot with High Maneuverability
| Autor: | Ali Meghdari, Alireza Esfandbod, Hossein Nejat Pishkenari |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science General Mathematics Reynolds number 02 engineering and technology Linear motor 01 natural sciences 010305 fluids & plasmas Computer Science Applications Mechanism (engineering) Controllability symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory Position (vector) Orientation (geometry) 0103 physical sciences symbols Robot Equations for a falling body Software |
| Zdroj: | Robotica. 39:1729-1738 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574720001460 |
| Popis: | SUMMARYIn this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior to the previously designed micro swimmers. In fact, our goal is designing a micro swimmer which its controllability matrix has full rank and hence it will be capable to perform any desired maneuver in space. After introducing the mechanism and derivation of the dynamical equations of motion, we propose a control method to steer the robot to the desired position and orientation in the presence of external disturbances in the low Reynolds number flow. Simulation results confirm the successful performance of the proposed mechanism and employed control method demonstrating high maneuverability of microrobot. |
| Databáze: | OpenAIRE |
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