Analysis and experiment of stick-slip motion principle in a legged microrobot

摘要

To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanism's vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm×15mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis.