Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Ahmad, Belal; Barbot, Antoine; Ulliac, Gwenn; Bolopion, Aude

doi:10.1109/tmech.2022.3145646

Cited by 9 publications

(9 citation statements)

References 25 publications

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“…the time to reach 63% of the steady-state value, is approximately 100 ms. The slower time response compared to our previous work [16] is mainly due to the higher viscosity of glycerin compared to air and water. Nonetheless, the achieved response is relatively fast and appropriate for the required micromanipulation application.…”

Section: A Optothermal Actuation Of Microgrippercontrasting

confidence: 82%

“…Nonetheless, the achieved response is relatively fast and appropriate for the required micromanipulation application. In terms of force, the microjoint that is used to actuate the gripping mechanism can generate forces in the order µN [16]. Therefore, a similar force range can be expected in the proposed microgripper.…”

Section: A Optothermal Actuation Of Microgrippermentioning

confidence: 86%

“…For the gripper part, an optothermally actuated two-fingers design is implemented using a stationary finger and a movable finger. The motion of the movable finger is achieved using our previously proposed optothermal bimaterial microjoint [16]. The microjoint exhibits a rotational motion upon laser heating due to the different thermal expansion coefficients of its two materials, which allows the gripper part to be activated on demand.…”

Section: A Microgripper Design and Fabricationmentioning

confidence: 99%

“…However, this work was limited to dry environments due to the difficulty in utilizing conventional optothermal microactuators in liquid environments where the thermal dissipation is high. We have previously proposed an optothermal microjoint based on a spiral bimaterial design that can realize rotational motion and fast responses in both air and liquid environments, while having a compact design (less than 200 µm) [16]. This microjoint can be used as a building block to realize an in-liquid optothermally actuated microgripper.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Ahmad

Barbot

Ulliac

et al. 2023

IEEE Robot. Autom. Lett.

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In this paper, we propose a mobile microgripper actuated using laser optothermal and magnetic actuation in liquid environments. This hybrid actuation scheme allows the full decoupling between the in-plane positioning of the mobile microgripper and the actuation of its gripping mechanism, which reduces the control complexity of such microgrippers. The work is divided into three main parts: 1) The design and fabrication of an optothermally actuated microgripper using a spiral bimaterial microjoint. 2) The two dimensional positioning of the microgripper in the working area using magnetic fields generated by four electromagnets. 3) The two dimensional steering of the laser beam using a tip/tilt galvo mirror to optothermally actuate the gripping mechanism on demand. The developed mobile microgripper with the dimensions of 1500×700×250 µm can realize an open and close gripping motion of 35 µm, a magnetic positioning accuracy of 6 µm for translation over an area of 1×1 mm and 2°for rotation, and a laser steering accuracy of 25 µm. Finally, the mobile microgripper is used to control the position of a microbead inside a liquid environment. Our work provides a proof of concept of laser optothermalmagnetic hybrid actuation, which has the potential to enhance the deployment of microtools in biomedical applications including cell manipulation and lab-on-chip devices.

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Section: A Optothermal Actuation Of Microgrippercontrasting

confidence: 82%

Section: A Optothermal Actuation Of Microgrippermentioning

confidence: 86%

Section: A Microgripper Design and Fabricationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Ahmad

Barbot

Ulliac

et al. 2023

IEEE Robot. Autom. Lett.

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“…The spiral mechanical joints and hinges that are currently used in engineering applications are designed for limited deformations [19][20][21][22][23][24]. In contrast, many functional spirals in animal and plant structures experience high deformations through coiling and uncoiling.…”

Section: Introductionmentioning

confidence: 99%

Double-spiral: a bioinspired pre-programmable compliant joint with multiple degrees of freedom

Jafarpour

Gorb

Rajabi

2023

J. R. Soc. Interface.

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Geometry and material are two key factors that determine the functionality of mechanical elements under a specific boundary condition. Optimum combinations of these factors fulfil desired mechanical behaviour. By exploring biological systems, we find widespread spiral-shaped mechanical elements with various combinations of geometries and material properties functioning under different boundary conditions and load cases. Although these spirals work towards a wide range of goals, some of them are used as nature's solution to compactify highly extensible prolonged structures. Characterizing the principles underlying the functionality of these structures, here we profited from the coiling–uncoiling behaviour and easy adjustability of logarithmic spirals to design a pre-programmable compliant joint. Using the finite-element method, we developed a simple model of the joint and investigated the influence of design variables on its geometry and mechanical behaviour. Our results show that the design variables give us a great possibility to tune the response of the joint and reach a high level of passive control on its behaviour. Using 3D printing and mechanical testing, we replicated the numerical simulations and illustrated the application of the joint in practice. The simplicity, pre-programmability and predictable response of our double-spiral design suggest that it provides an efficient solution for a wide range of engineering applications, such as articulated robotic systems and modular metamaterials.

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Fabrication and Characterization of a Magnetic 3D‐printed Microactuator

Rothermel,

Thiele,

Jung

et al. 2024

Adv Materials Technologies

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Conventional MEMS microactuators have, in recent years, been complemented by 3D‐printed actuatable microstructures fabricated via two‐Photon‐Polymerization (2PP). Herein, a novel compact 3D‐printed magnetically actuatable microactuator with a diameter of 500µm is demonstrated, originally designed for micro‐optical systems. It is fabricated by incorporating a composite of NdFeB microparticles and epoxy resin into a designated reservoir of the printed mechanical structure within a simple post‐processing step. The microactuator structure features mechanical springs, allowing for continuous positioning with large displacement. Mechanical studies by nanoindentation of IP‐S bulk structures reveal a viscoelastic material behavior, described by a two‐element General Kelvin‐Voigt viscoelasticity model. The obtained material parameters are then used to simulate and characterize the spring behavior of the microactuator. Actuation experiments are conducted using an external microcoil. The actuator displacement is measured for triangular current pulses with a peak current of 106 mA and durations of 1 to 100 s, resulting in displacements of 69.1 to 88.9 µm. Hysteretic behavior of the actuator is observed, attributable to viscoelasticity and magnetic properties of the core material. Numerical simulations of the experiment demonstrate this behavior as well. On‐the‐fly demagnetization and the implementation of closed‐loop control allow for both high repeatability and precise positioning.

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Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Cited by 9 publications

References 25 publications

Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Double-spiral: a bioinspired pre-programmable compliant joint with multiple degrees of freedom

Fabrication and Characterization of a Magnetic 3D‐printed Microactuator

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