ARRIpede: An Assembled Die-Scale Microcrawler

Murthy, Rakesh; Das, Avishek; Popa, Dan O.; Stephanou, H.E.

doi:10.1163/016918611x568602

Cited by 19 publications

(13 citation statements)

References 18 publications

(14 reference statements)

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“…These designs are similar to those featuring in so called continuum or serpentine robots which feature in surgical and industrial applications [9]. As discussed in [10], similar locomotion mechanisms can be found in certain other robots such as the ETH-Zürich MagMite [11,12], the University of Texas at Arlington ARRIpede robot [13,14], a design from the University of Trento [15,16] and a design from Carnegie-Mellon University [17] that features an electromagnetic drive. The designs listed above that feature varying curvature and adhesion of limbs also have their natural counterparts in a wide variety of creatures who move using limbless crawling (peristaltic locomotion [18,19,20]).…”

Section: Introductionmentioning

confidence: 70%

Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating changes to intrinsic curvature to enable the robot's limbs to either stick, adhere, or slip on the robot's workspace. The resulting locomotion mechanism has several features in common with peristaltic locomotion that can be found in the animal world. The purpose of the present paper is to examine the feasibility of, and design guidelines for, a locomotion mechanism that exploits the control of intrinsic curvature on a rough surface. With the help of a quasi-static analysis of a continuous model of a soft robot's limb, we show precisely how locomotion is induced and how the performance can be enhanced by controlling the curvature profile. Our work provides a framework for the theoretical analysis of the locomotion of the soft robot and the resulting analysis is also used to develop some design guidelines.

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Section: Introductionmentioning

confidence: 70%

Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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“…For some soft robot designs, such as the recent pneumatic quadruped in [19], locomotion can be achieved by coordinated sticking and slipping of the limbs. A similar mechanism can be found in certain micro-robots, such as the ETH-Zürich Magmite [8,14,15], UT-Arlington ARRIpede [12,13], Dartmouth scratchdrive MEMS robot [3], and magentic micro-robot from Carnegie-Mellon University [17]. At the macroscale, stickslip locomotion is also featured in the Capsubot from Tokyo's Denki University [9] and the Friction Board System [21].…”

Section: Introductionmentioning

confidence: 74%

Energy efficiency in friction-based locomotion mechanisms for soft and hard robots: slower can be faster

2014

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TitleEnergy efficiency in friction-based locomotion mechanisms for soft and hard robots: slower can be faster Abstract Many recent designs of soft robots and nano robots feature locomotion mechanisms that cleverly exploit slipping and sticking phenomena. These mechanisms have many features in common with peristaltic locomotion found in the animal world. The purpose of the present paper is to examine the energy efficiency of a locomotion mechanism that exploits friction. With the help of a model that captures most of the salient features of locomotion, we show how locomotion featuring stick-slip friction is more efficient than a counterpart that only features slipping. Our analysis also provides a framework to establish how optimal locomotion mechanisms can be selected.

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“…where " " is the number of robot joints (14) Using the pseudo-inverse of the Jacobian matrix, we can servo the robots to desired alignment position in the sensor image coordinate frame through servoing command (15) where " " is a positive constant which acts as the gain for servoing.…”

Section: E Visual Servoingmentioning

confidence: 99%

“…The Arripede microrobot [14] (Fig. 10) consists of an array of prismatic joints fabricated on a area SOI die using DRIE.…”

Section: B Arripede Micro-robot Case Studymentioning

confidence: 99%

“…In contrast to conventional belief that serial assembly can become seriously slow and cumbersome for the cost of precision, we demonstrate that high-speed serial microassembly of MEMS parts can be accomplished with a high degree of reliability by careful identification of precision metrics such as resolution, repeatability, and accuracy (RRA) and manipulation of control and planning scheme based on a quantitative tool called High Yield Assembly Condition (HYAC). Two completely different complex microsystems, a Microspectrometer [13] and a microrobot called Arripede [14], have been used as experimental test case scenarios to demonstrate the implementation of the presented microassembly system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Multiscale Assembly and Packaging System for Manufacturing of Complex Micro-Nano Devices

Das

Murthy

Popa

et al. 2012

IEEE Trans. Automat. Sci. Eng.

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Reliable manufacturability has always been a major issue in commercialization of complex and heterogeneous microsystems. Though successful for simpler and monolithic microdevices such as accelerometers and pressure sensors of early days, conventional surface micromachining techniques, and in-plane mechanisms do not prove suffice to address the manufacturing of today's wide range of microsystem designs. This has led to the evolution of microassembly as an alternative and enabling technology which can, in principle, build complex systems by assembling heterogeneous microparts of comparatively simpler design; thus reducing the overall footprint of the device and providing high structural rigidity in a cost efficient manner. However, unlike in macroscale assembly systems, microassembly does not enjoy the flexibility of having ready-to-use manipulation systems or standard off-the-shelf components. System specific designs of microparts and mechanisms make the fabrication process expensive and assembly scheme diverse. This warrants for a modular microassembly cell which can execute the assembly process of multiple microsystems by reconfiguring the kinematics setup, end-effectors, feedback system, etc.; thus minimizing the cost of production. In this paper, we present a multiscale assembly and packaging system (MAPS) comprising of 20 degrees of freedom (DoFs) that can be arranged in several reconfigurable micromanipulation modules depending on the specific task. The system has been equipped with multiple custom-designed microgrippers and end-effectors for different applications. Stereo microscopic vision is achieved through four high-resolution cameras. We will demonstrate the construction of two different microsystems using this microassembly cell; the first one is a miniature optical spectrum analyzer called microspectrometer and the second one is a MEMS mobile robot/conveyor called Arripede.Note to Practitioners-This paper describes the development of an modular and reconfigurable assembly system for construction of complex, heterogeneous 3D micro-nano systems. The emphasis is on manufacturability aspects such as yield, throughput and cost in process automation. The system components include precision robots, micro-stages, end-effectors, and fixtures that accomplish assembly tasks in a shared workspace along with other process tools. High assembly yield is guaranteed by the application of a so-called Resolution-Repeatability-Accuracy (RRA) precision design rule. We present experimental results demonstrating how different microsystems are assembled within specified tolerance budgets, with high yield, using a systematic planning and a hybrid control structure and minimalist hardware approach.

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ARRIpede: An Assembled Die-Scale Microcrawler

Cited by 19 publications

References 18 publications

Flexing into motion: A locomotion mechanism for soft robots

Flexing into motion: A locomotion mechanism for soft robots

Energy efficiency in friction-based locomotion mechanisms for soft and hard robots: slower can be faster

A Multiscale Assembly and Packaging System for Manufacturing of Complex Micro-Nano Devices

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