Friction force reduction of conduit guided wire by vibration

Conduit guided wires are very useful for operating a microrobot in narrow space. However, there is a big problem, that is, the big friction force between the conduit and the wire effects force control of the microrobot. Micron vibration was applied to the wire to reduce the friction force. At the experiment, the effect of the different diameter of wire, the amplitude of vibration and the frequency of vibration on the reduction of friction force was studied. It was found that the maximum reduction of the coefficient of friction by the micron vibration was about 50%