&lt;title&gt;In-pipe wireless microrobot&lt;/title&gt;

Kawahara, Nobuaki; Shibata, Takayuki; Sasaya, Takanari

doi:10.1117/12.357821

Cited by 18 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Millimeter scale robots have application in search and rescue, exploration, and medical scenarios [1][2][3][4][5][6]. Development of fabrication processes for millimeter scale robots have lead to methods such as smart-composite microstructures [7] and pop-up book assembly [8].…”

Section: Introductionmentioning

confidence: 99%

Piezoelectric actuators with on-board sensing for micro-robotic applications

Chopra

Gravish

2019

Smart Mater. Struct.

View full text Add to dashboard Cite

We present a piezoelectric actuator design with integrated position sensing for millimeter scale mobile robotics. Actuators are fabricated using the smart composite microstructure fabrication process which consists of laser micromachining and composite lamination. Electrically isolated strain-sensing regions of the piezoelectric material undergo identical motion as the actuation layers and thus directly sense tip deflection through the piezoelectric effect. We present the design considerations of strain-sensing piezoelectric actuators which can be made over a wide range of sizes and in both unimorph and bimorph configurations. These actuators demonstrate a linear relationship between the piezo sensor voltage output and the actuator tip to tip displacement when actuated over input bias voltages ranging between 25 and 200 V and frequencies from 10 to 250 Hz. We demonstrate the applicability of strain sensing actuators for microrobotic flying robots through wing-collision and wing-degradation experiments. Actuators enabled successful detection of instantaneous wing collisions when flapping near an obstacle. Furthermore, wing degradation through loss of wing area resulted in increased wing amplitudes which were observed in the sensor. Coincident actuation and sensing within microrobots represents a meaningful step towards closed loop control capabilities of microrobots using onboard sensors.

show abstract

Section: Introductionmentioning

confidence: 99%

Piezoelectric actuators with on-board sensing for micro-robotic applications

Chopra

Gravish

2019

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…Some reports are based on advanced technology including microbatteries, micromotors and miniscule computational facilities [1][2][3][4]. The other reports are made by sophisticated precision machining techniques [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Development of the orthogonal microrobot for accurate microscopic operations

Fuchiwaki

Misaki

Kanamori

et al. 2008

J. Micro-Nano Mech.

View full text Add to dashboard Cite

In this paper, we describe the development of an orthogonal microrobot for accurate microscopic operations. To conduct the microscopic operation, a simple locomotion mechanism composed of one piezoelectric actuator and two U-shaped electromagnets is proposed. The orthogonal microrobot can move precisely in one-axis with the manner of an inchworm. We use permanent magnets so that this robot can fix itself on a steel surface when no voltage is applied. To provide XY orthogonal positioning, we connect one microrobot to another microrobot orthogonally. To realize cell processing, we arrange the three two-axial orthogonal microrobots on an inverted microscope. We load a simple micropump on right and left robots to hold biological samples such as an egg cell and to inject reagent solutions into biological samples. Finally, we arrange another microrobot between the other two microrobots to position samples. The whole cell processing device is very small, so we can easily set up the whole device to microprocessing instruments. In experiments, orthogonal microrobots succeeded in holding an egg cell with a diameter of 100 μm and sticking the pipette with a diameter of 5 μm into the egg cell under a specific GUI control system with a visual feedback function.

show abstract

A peculiar flip-flop actuator for an in-pipe microrobot

et al. 2004

View full text Add to dashboard Cite

The work presented here concerns the design and manufacturing possibility of a polymodular autonomous microrobot moving like an earthworm. The study consists of the development of a new locomotion actuator based on shape memory alloys. This actuator is formed by a flexible frame forced in post-buckling by its assembly on a rigid skeleton cage. This mechanical structure, forming a knot in the microrobot chain, uses its two post-buckling equilibrium positions to achieve first the support and second the local lengthening enabling the movement of the microrobot. Initially, we present the technical solution designed for the locomotion actuator and the mechanical characterization of its malleable structure. Then, we present the instrumentation by educated SMA of a malleable structure and the capability of microrobot locomotion task in a vertical tube.

show abstract

<title>In-pipe wireless microrobot</title>

Cited by 18 publications

References 0 publications

Piezoelectric actuators with on-board sensing for micro-robotic applications

Piezoelectric actuators with on-board sensing for micro-robotic applications

Development of the orthogonal microrobot for accurate microscopic operations

A peculiar flip-flop actuator for an in-pipe microrobot

Contact Info

Product

Resources

About