Model driven design for flexure-based Microrobots

Doshi, Neel; Goldberg, Benjamin; Sahai, Ranjana; Jafferis, Noah T.; Aukes, Daniel M.; Wood, Robert J.; Paulson, John A.

doi:10.1109/iros.2015.7353959

Cited by 55 publications

(63 citation statements)

References 18 publications

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“…S1). The SFB transmission and actuators are sized as described in (29) to provide sufficient force for inverted and vertical locomotion.…”

Section: Resultsmentioning

confidence: 99%

“…However, during locomotion on horizontal surfaces, HAMR-E achieved higher forward velocities compared with other climbing robots, which have body morphologies specialized for the adhesion mechanism of choice. The robot's rapidrunning ability is a consequence of our decision to develop a module for surface attachment (via electroadhesive footpads) that allowed HAMR-E to retain many of the desirable features from successful earlier versions (25,29,41). This means that, despite being one of the smallest legged robots, HAMR-E is a highly capable and versatile robot that has the potential to adapt to varying terrains (42), change gaits to maximize speeds (43), exploit in-plane maneuverability (44), and achieve autonomous locomotion (27).…”

Section: Discussionmentioning

confidence: 99%

“…Immediate next steps intended to enhance HAMR-E's locomotion capabilities can take a number of directions, and a few of them are listed below. For example, further optimization of the drive train using techniques described in (29) could improve payload capacity and enable autonomous locomotion as in (27). Furthermore, our low-voltage electroadhesive footpads can share a high-voltage source with the actuators; consequently, integration with the autonomous HAMR (27) will require minimal modifications to the existing on-board drive electronics.…”

Section: Discussionmentioning

confidence: 99%

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Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

et al. 2018

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The ability to climb greatly increases the reachable workspace of terrestrial robots, improving their utility for inspection and exploration tasks. This is particularly desirable for small (millimeter-scale) legged robots operating in confined environments. This paper presents a 1.48-gram and 4.5-centimeter-long tethered quadrupedal microrobot, the Harvard Ambulatory MicroRobot with Electroadhesion (HAMR-E). The design of HAMR-E enables precise leg motions and voltage-controlled electroadhesion for repeatable and reliable climbing of inverted and vertical surfaces. The innovations that enable this behavior are an integrated leg structure with electroadhesive pads and passive alignment ankles and a parametric tripedal crawling gait. At a relatively low adhesion voltage of 250 volts, HAMR-E achieves speeds up to 1.2 (4.6) millimeters per second and can ambulate for a maximum of 215 (162) steps during vertical (inverted) locomotion. Furthermore, HAMR-E still retains the ability for high-speed locomotion at 140 millimeters per second on horizontal surfaces. As a demonstration of its potential for industrial applications, such as in situ inspection of high-value assets, we show that HAMR-E is capable of achieving open-loop, inverted locomotion inside a curved portion of a commercial jet engine.

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“…S1). The SFB transmission and actuators are sized as described in (29) to provide sufficient force for inverted and vertical locomotion.…”

Section: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

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Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

et al. 2018

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“…This section describes studying a hinge in a simple pendulum made using laminate manufacturing techniques in order to map design variables to stiffness and damping in a parametric hinge joint which later can be used for extending simulations to new and more complex systems. Doshi et al [11] have done similar work for retrieving joint parameters by using spring and damping coefficients using a standard second-order system, and applying these to the hand-coded dynamics of a given five-bar mechanism in a vacuum. The methods used in this paper work in air and extract model parameters using the dynamic model of our system described in Section 3.2.…”

Section: Hinge Characterizationmentioning

confidence: 99%

“…The effect of hinge length on k and b was studied across five specimens where the total hinge length was increased ( Fig. 5) which resulted in second order models given by b = 3.6381 × l 2 − 0.0297 × l + 8.3506 × 10 −5 (10) k = 746.6667 × l 2 − 7.4590 × l + 0.251 (11) The obtained results show a decrease in the value of the damping coefficient and stiffness as length increases.…”

Section: Effect Of Length On Stiffness and Damping Cofficientmentioning

confidence: 99%

An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms

Sharifzadeh

Khodambashi

Aukes

2018

Volume 5B: 42nd Mechanisms and Robotics Conference

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Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system.

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A High‐Lift Micro‐Aerial‐Robot Powered by Low‐Voltage and Long‐Endurance Dielectric Elastomer Actuators

Ren

Kim

et al. 2022

Advanced Materials

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Dielectric elastomer actuators (DEAs) are a special class of artificial muscles that have been used to construct animal‐like soft robotic systems. However, compared with state‐of‐the‐art rigid actuators such as piezoelectric bimorphs and electromagnetic motors, most DEAs require higher driving voltages, and their power density and lifetime remain substantially lower. These limitations pose significant challenges for developing agile and powered autonomous soft robots. Here, a low‐voltage, high‐endurance, and power‐dense DEA based on novel multiple‐layering techniques and electrode‐material optimization, is reported. When operated at 400 Hz, the 143 mg DEA generates forces of 0.36 N and displacements of 1.15 mm. This DEA is incorporated into an aerial robot to demonstrate high performance. The robot achieves a high lift‐to‐weight ratio of 3.7, a low hovering voltage of 500 V, and a long lifetime that exceeds 2 million actuation cycles. With 20 s of hovering time, and position and attitude error smaller than 2.5 cm and 2°, respectively, the robot demonstrates the longest and best‐performing flight among existing sub‐gram aerial robots. This important milestone demonstrates that soft robots can outperform their state‐of‐the‐art rigid counterparts, and it provides an important step toward realizing power autonomy in soft robotic flights.

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Model driven design for flexure-based Microrobots

Cited by 55 publications

References 18 publications

Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms

A High‐Lift Micro‐Aerial‐Robot Powered by Low‐Voltage and Long‐Endurance Dielectric Elastomer Actuators

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