Piezoelectric Grippers for Mobile Micromanipulation

Abondance, Tristan; Jayaram, Kaushik; Jafferis, Noah T.; Shum, Jennifer; Wood, Robert J.

doi:10.1109/lra.2020.2997317

Cited by 24 publications

(15 citation statements)

References 31 publications

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“…several ideas about application and configuration optimization are briefly introduced in Figure S7, Supporting Information. [35] In short, we will focus on the untethered operation and practical applications in the future.…”

Section: Methodsmentioning

confidence: 99%

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Liu

Deng

et al. 2021

Advanced Intelligent Systems

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Miniaturization, fast motion, high resolution, high agility, and good adaptability are relatively contradictory characteristics in mobile robot design. It is indeed a challenge to satisfy these performances at the same time. Inspired by the arthropod metamerism in nature, herein, a millirobot composed of three piezoelectric segments is proposed. The millirobot is tethered for power, and the whole size of the millirobot is 58 Â 44 Â 12 mm; it uses several principles of arthropod locomotion, can carry loads and cross obstacles, and also has the rapidity and agility like a centipede through the coordination of multiple piezoelectric segments. Fast motion with a maximum speed of 516 mm s À1 is realized by operating at resonant mode, and stepping motion with a resolution of 0.44 μm is achieved by the pulsed sinusoidal mode. The widest speed range among published reports of millirobots is achieved (from 4.5e À3 to 9 BL s À1 ). Its agility surpasses other piezoelectric millirobots; the linear, steering, and rotational motions are performed and switched flexibly. The results show that fast motion, high resolution, wide speed range, high agility, large load capacity, good adaptability, and miniaturization are successfully achieved by the millirobot.

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Section: Methodsmentioning

confidence: 99%

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Liu

Deng

et al. 2021

Advanced Intelligent Systems

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“…Piezoelectric actuators have been widely used for MEMS devices and microbotics due to their highly-controllable movement, [6,54] low-power consumption, [10,33,54] special precession, [7,55] fast responses, [33,54] and unique electromechanical properties. [56,57] MEMS and microstructure actuation employ the inverse piezoelectric effect, in which applying an electric potential results in a small strain in the piezoelectric crystal.…”

Section: Piezoelectric Actuatorsmentioning

confidence: 99%

“…[58] The most widely used piezoelectric materials are PVDF films (polyvinylidene fluoride), [4,59] PZT-5H (lead zirconate titanate), [60,61] PZT (lead zirconate titanate), [62,63] and PZT-CoF (lead zirconate titanatecobalt ferrite). [6,7,10,33,54,64] In this section, we summarize the most common types of piezoelectric actuation used in microbotics.…”

Section: Piezoelectric Actuatorsmentioning

confidence: 99%

“…[7,10,64] All versions of HAMR incorporate six bimorph piezoelectric actuators, except for HARM-E which uses eight bimorph piezoelectric actuators, [6] to provide electrical connection and mechanical support to the legs. Bimorph piezoelectric actuation is characterized by its high blocking force and precise control, therefore, it was also incorporated to build microgrippers [54] and to produce the high-speed climbing microbot (HAMR-E) shown in Figure 4b. [6] Xia et al, [74] presented a novel design and manufacturing methods for a quadruped microrobot "HAMR-F" based on biomorph piezoelectric actuators with enhanced base.…”

Section: Bimorph Piezoelectric Actuatorsmentioning

confidence: 99%

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Actuation of Mobile Microbots: A Review

Hussein,

Damdam,

Ren

et al. 2023

Advanced Intelligent Systems

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Maturation of robotics research and advances in the miniaturization of machines have contributed to the development of microbots and enabled new technological possibilities and applications. Microbots have a wide range of applications, including the navigation of confined spaces, environmental monitoring, micro‐assembly and manipulation of small objects, and in vivo micro‐surgeries and drug delivery. Actuators are among the most critical components that define the performance of robots. A comprehensive review of the actuation mechanisms that have been employed in mobile microbots is provided, including piezoelectric, magnetic, electrostatic, thermal, acoustic, biological, chemical, and optical actuation, with a focus on the most recent development and methodologies.

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“…With an embedded force sensing unit, the system is capable of ensuring the threshold force is never surpassed and in the case of a biological medium, the object being manipulated retains its properties and viability. Multiple force sensing methods have been shown for micromanipulation or microrobotic applications, such as piezoelectric/piezoresistive [ 21 , 22 , 23 , 24 ], atomic force microscope (AFM) [ 25 , 26 ], vision-based [ 11 , 27 ], and capacitive [ 28 , 29 ]. From these methods, a vision-based force sensor modality is selected for use here since it is able to overcome many of the drawbacks other sensors, such as high costs and difficult integration with micromanipulation systems (AFM sensors), complicated circuitry (capacitive sensors), and temperature sensitivity (piezoresistive sensors).…”

Section: Introductionmentioning

confidence: 99%

Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities

et al. 2021

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In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.

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Piezoelectric Grippers for Mobile Micromanipulation

Cited by 24 publications

References 31 publications

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Arthropod‐Metamerism‐Inspired Resonant Piezoelectric Millirobot

Actuation of Mobile Microbots: A Review

Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities

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