Development of 3-DOF Inchworm Mechanism for Flexible, Compact, Low-Inertia, and Omnidirectional Precise Positioning: Dynamical Analysis and Improvement of the Maximum Velocity Within No Slip of Electromagnets

• Published in: IEEE/ASME transactions on mechatronics Vol. 17; no. 4; pp. 697 - 708
• Main Authors: Fuchiwaki, O., Arafuka, K., Omura, S.
• Format: Journal Article
• Language: English
• Published: IEEE 01.08.2012
• Subjects: Electromagnet; Electromagnets; Force; inchworm; low-inertia; Mechatronics; Mobile communication; omnidirectional; piezoelectric actuator; Piezoelectric actuators; Springs; Vibrations

In this paper, we describe the dynamical analysis and improvement of the maximum velocity within no slip of electromagnets for a 3-DOF inchworm mobile mechanism. The mechanism consists of four "Moonie" piezoelectric actuators and a pair of electromagnets and moves like an inchworm with les...