Skip to main content
SpringerLink
Log in
Book cover

Microactuators and Micromechanisms pp 9–22Cite as

Steering and Non-steering Crawling Tetrahedral Micro-mechanisms

  • Conference paper

  • 1033 Accesses

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 30))

Abstract

Crawling mechanical structures with energetic autonomy and remote control may move and steer by sliding on the ground. The paper presents a study on simple possibilities to achieve sliding movement with a crawling tetrahedral structure and studies their movement capabilities both analytically and by MBS simulation. The structures are analyzed using an equivalent plane model and a 3d model, respectively. The analysis is structural, kinematical, static and dynamic.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  • Ceccarelli M (2013) Mechanism design for robots. In: The 11th IFToMM international symposium on science of mechanisms and machines SYROM’13, Brasov. Springer, Dordrecht, pp 1–8

    Google Scholar 

  • Dickinson MH et al (2000) How animals move: an integrative view. Science 288:100

    Article  Google Scholar 

  • Ijspeert AJ (2008) Central pattern generators for locomotion control in animals and robots: a review. Neural Netw 21:642–653

    Article  Google Scholar 

  • Li T, Ceccarelli M (2012) A method for topological design of mechanism. In: Proceedings of the MEDER 2012, 2nd IFToMM symposium on mechanism design for robotics, Beihang University, Beijing

    Google Scholar 

  • Liang C, Ceccarelli M (2012) Design and simulation of a waist–trunk system for a humanoid robot. Mech Mach Theory 53:50–65

    Article  Google Scholar 

  • Liang C, Ceccarelli M, Takeda Y (2008) Operation analysis of a one-DOF pantograph leg mechanisms. Proceedings of the RAAD, the 17th international workshop on robotics in Alpe–Adria–Danube Region, Ancona, pp 1–10

    Google Scholar 

  • Lipson H, Pollack BJ (2000) Automatic design and manufacture of robotic life forms. Nature 406:974–978

    Article  Google Scholar 

  • Liu W, Menciassi A, Scapellato S, Dario P, Chen Y (2006) A biomimetic sensor for a crawling minirobot. Robot Auton Syst 54:513–528

    Article  Google Scholar 

  • Lovasz EC, Modler KH, Cărăbaş I (2005) Internationale Zusammenarbeit zwischen PU Timişoara und TU Dresden auf dem Gebiet der Getriebelehre – Getriebekolloquium 2005, RWTH Aachen, pp 179–192

    Google Scholar 

  • Mărgineanu D, Lovasz EC, Modler KH (2007) On the 3D crawling mechanical structures. The 12th IFToMM world congress, Besançon

    Google Scholar 

  • Modler KH, Mărgineanu D, Perju D, Lovasz EC, Fernengel V (2005) Analyse mechanischer Strukturen für einfache Fortbewegungen. In: Proceedings of the ninth IFToMM international symposium on the theory of machines and mechanisms, vol 1. Bucharest, pp 105–110

    Google Scholar 

  • Nam J, Jeon S, Kim S, Jang G (2014) Crawling microrobot actuated by a magnetic navigation system intubular environments. Sens Actuat A-Phys 209:100–106

    Article  Google Scholar 

  • Ottaviano E, Vorotnikov S, Ceccarelli M, Kurenev P (2011) Design improvements and control of a hybrid walking robot. Robot Auton Syst 59:128–141

    Article  Google Scholar 

  • Quillin KJ (1999) Kinematic scaling of locomotion by hydrostatic animals: ontogeny of peristaltic crawling by the earthworm lumbricus terrestris. J Exp Biol 202:661–674

    Google Scholar 

  • Tian Y, Wei X, Joneja A, Yao YA (2014) Sliding–crawling parallelogram mechanism. Mech Mach Theory 78:201–228

    Article  Google Scholar 

  • Wagner GL, Lauga E (2013) Crawling scallop: friction-based locomotion with one degree of freedom. J Theor Biol 324:42–51

    Article  MathSciNet  Google Scholar 

  • Wang W, Wang K, Zhang H (2009) Crawling gait realization of the mini-modular climbing caterpillar robot. Prog Nat Sci 19:1821–1829

    Article  Google Scholar 

  • Zielinska T (2004) Biological aspects of locomotion. In: Pfeiffer F, Zielinska T (eds) Walking: biological and technological aspects, vol 467, CISM courses and lectures. Springer, Wein/New York, pp 1–30

    Chapter  Google Scholar 

  • Zielinska T (2009) Biological inspiration used for robots motion synthesis. J Physiol Paris 103:133–140

    Article  Google Scholar 

  • Zielinska T, Chew CM (2006) Biologically inspired motion planning in robotics. In: Kozlowzki K (ed) Robot motion and control, vol 335, Lecture notes in control and information sciences. Springer, Heidelberg, pp 201–219, Chapter 13

    Chapter  Google Scholar 

  • Zielinska T, Chew CM, Kryczka P, Jargilo T (2009) Robot gait synthesis using the scheme of human motion skills development. Mech Mach Theory 44(3):541–558

    Article  MATH  Google Scholar 

  • Zimmermann K, Naletova VA, Zeidis I, Turkov VA, Kolev E, Lukashevich MV, Stepanov GV (2007) A deformable magnetizable worm in a magnetic field—a prototype of a mobile crawling robot. J Magn Magn Mater 311:450–453

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechatronics, University Politehnica Timisoara, Timisoara, Romania

    D. Mărgineanu, E.-C. Lovasz & C. M. Gruescu

  2. Institut für Leichtbau und Kunststofftechnik, Technical University Dresden, Dresden, Germany

    K.-H. Modler

Authors
  1. D. Mărgineanu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. E.-C. Lovasz
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. K.-H. Modler
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. C. M. Gruescu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to D. Mărgineanu .

Editor information

Editors and Affiliations

  1. Department of Mechatronics, Univ. Politehnica Timisoara, Timisoara, Romania

    Erwin-Christian Lovasz

  2. Mechanical Engineering, Indian Institute of Science, Bangalore, India

    Gondi Kondaiah Ananthasuresh

  3. Institut fu¨r Getriebetechnik und Maschinendynamik, RWTH Aachen University, Aachen, Germany

    Burkhard Corves

  4. Department of Mechanical Engineering, University of the Basque Country, Bilbao, Spain

    Victor Petuya

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Mărgineanu, D., Lovasz, EC., Modler, KH., Gruescu, C.M. (2015). Steering and Non-steering Crawling Tetrahedral Micro-mechanisms. In: Lovasz, EC., Ananthasuresh, G., Corves, B., Petuya, V. (eds) Microactuators and Micromechanisms. Mechanisms and Machine Science, vol 30. Springer, Cham. https://doi.org/10.1007/978-3-319-15862-4_2

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-15862-4_2

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-15861-7

  • Online ISBN: 978-3-319-15862-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation