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Vibration-Induced Frequency-Controllable Bidirectional Locomotion for Assembly and Microrobotic Applications

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2 Author(s)
Zhenwen Ding ; Dept. of Phys., Purdue Univ., West Lafayette, IN, USA ; Babak Ziaie

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 mm3) 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.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 5 )