A 3d-Printed 1 Mg Legged Microrobot Running at 15 Body Lengths Per Second

Pierre, Ryan St.; Gosrich, Walker; Bergbreiter, Sarah

doi:10.31438/trf.hh2018.16

Cited by 26 publications

(9 citation statements)

References 15 publications

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“…Secondly, it is worth pointing out the achievement of speeds as high as 14 BL/s. This value compares with state-of-the-art reports for 1 mg robots with magnetic actuation [ 18 ]. In our case, we managed to reach such a value of speed for a mass that was about 250 times higher, with the use of piezoelectric materials that allowed for an all-electrical scheme, and with applied voltages well below 100 V, which might facilitate the implementation of an untethered robot with an integrated driving signal.…”

Section: Resultssupporting

confidence: 74%

“…In the pursuit of miniaturization and established fabrication protocols, silicon-based robots were also reported, with a performance that still needs to be improved in terms of speed of locomotion [ 13 , 14 , 15 , 16 ]. The reports of magnetically actuated robots, with a speed of 15 BL/s for a 3D-printed 1 mg robot, are also worth mentioning [ 17 , 18 ]. Thinking about locomotion mechanisms which are easy to integrate in small-scale structures, a wavelike motion of the body of the robot, with attached passive legs, is a promising approach.…”

Section: Introductionmentioning

confidence: 99%

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Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

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The use of wave-based locomotion mechanisms is already well established in the field of robotics, using either standing waves (SW) or traveling waves (TW). The motivation of this work was to compare both the SW- and the TW-based motion of a 20-mm long sub-gram glass plate, with attached 3D printed legs, and piezoelectric patches for the actuation. The fabrication of the robot did not require sophisticated techniques and the speed of motion was measured under different loading conditions. In the case of the TW mechanism, the influence of using different pairs of modes to generate the TW on the locomotion speed has been studied, as well as the effect of the coupling of the TW motion and the first flexural vibration mode of the legs. This analysis resulted in a maximum unloaded speed of 6 bodylengths/s (BL/s) at 65 V peak-to-peak (Vpp). The SW approach also examined different modes of vibration and a speed of locomotion as high as 14 BL/s was achieved, requiring, unlike the TW case, a highly precise location of the legs on the glass supporting platform and a precise tuning of the excitation frequency.

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Section: Resultssupporting

confidence: 74%

Section: Introductionmentioning

confidence: 99%

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

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“…Future effort will be focused on improving the fabrication process by incorporating additional steps, such as the deposition of a sacrificial layer on the substrate before 3D printing to fully release the device after fabrication [27], [42], multi-material 3D printing with functional [30] or soft materials [42], and Oxygen plasma etching [24]. Combining these approaches to the fabrication process will enable us to achieve 3D microactuators and microrobots with even more capabilities and design freedom.…”

Section: Discussionmentioning

confidence: 99%

“…TPP is capable of high resolution, up to sub-100 nm, and the ability to directly write in 3D space [19], [20]. The high resolution and ability to write directly in 3D spaces has enabled new micro-optical structures [21], [22], 3D mechanical structures [23]- [25], microactuators [26], and microrobots [27]- [32].…”

mentioning

confidence: 99%

“…One of the big challenges with directly fabricating microactuators and sensors with TPP is the addition of functional components to the 3D printed polymer structures. To add functional components, magnets have been inserted after printing to provide actuation [27] or PZT blocks directly adhered to 3D printed structures [28]. Both of those approaches require an additional manual assembly step after printing.…”

mentioning

confidence: 99%

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A Two-Step Fabrication Method for 3D Printed Microactuators: Characterization and Actuated Mechanisms

Kim

Velez

Pierre

et al. 2020

J. Microelectromech. Syst.

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The fabrication and integration of microactuators with 3D micromechanisms are necessary to develop microrobots with higher capability and complexity. In this work, a twostep fabrication method combining 3D printing with two-photon polymerization (TPP) and aluminum sputtering is demonstrated. Actuators using two different transduction mechanisms (thermal and electrostatic) were fabricated in this process, and a thermal actuator was printed with a mechanism in three-dimensional space without additional assembly steps. This work also provides parameterized characterizations which can be used as design guidelines for building actuators and mechanisms. A design approach to electrically isolate the actuators from the substrate is introduced so that the device can be functional after two fabrication steps without patterning the metal layer. Metal coverage on the sidewalls of trenches are characterized, which provides a design space for deciding electrode gaps and heights in electrostatic actuators. Using these guidelines, 500 µm long thermal actuators showed a maximum displacement of 18.0 µm at 8.31mW and reliably actuated up to 8,500 cycles. An interdigitated electrostatic comb-drive actuator was also successfully demonstrated, displacing 12.7 µm when 160V was applied. Finally, a 3D actuated mechanism was designed by incorporating a thermal actuator with 3D compliant mechanisms to flap 250 µm long wings. Flapping motion was successfully demonstrated.

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Insect‐Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque

Zhao,

Xin,

Zhu

et al. 2024

Advanced Materials

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Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect‐scale robots. Robust locomotion plays a particularly critical role. In this study, we reveal and define a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, we propose a biped robot based on the mechanism that not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load‐carrying and weight‐bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect‐scale robotics.This article is protected by copyright. All rights reserved

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A 3d-Printed 1 Mg Legged Microrobot Running at 15 Body Lengths Per Second

Cited by 26 publications

References 15 publications

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

A Two-Step Fabrication Method for 3D Printed Microactuators: Characterization and Actuated Mechanisms

Insect‐Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque

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