Repeatability and Reproducibility Analysis of a Multistable Module Devoted to Digital Microrobotics

Bouhadda, Ismaïl; Mohand-Ousaid, Abdenbi; Bourbon, Gilles; Moal, Patrice Le; Lutz, Philippe; Hussein, Hussein; Haddab, Yassine

doi:10.1109/iros.2018.8594259

Cited by 4 publications

(3 citation statements)

References 16 publications

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“…Design and fabrication of a novel actuation mechanism using a similar bistable structure were also proposed for microrobotics. [ 96,97 ] The electrothermally actuated bistable module could be optimized for use in a digital microrobotics system. [ 98 ] Also, Huang et al.…”

Section: Bistable Structures For Robotics and Memsmentioning

confidence: 99%

Bistable Structures for Advanced Functional Systems

Cao

Derakhshani

Fang

et al. 2021

Adv Funct Materials

102

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Bistable mechanical systems having two local minima of potential energy can rest in either of the two stable equilibrium states in the absence of external loadings. A snap-through action may occur under suitable stimuli and/or loading, during which such systems exhibit distinct properties from linear structures. Such kinds of structures have been widely exploited for designing advanced functional systems for a variety of applications. Here, the advances of bistable structures are summarized for novel advanced functional systems, including actuators, energy harvesters, microelectromechanical systems (MEMS), robotics, energy absorbers, and programmable devices as well as metamaterials. The controllable snap-through motions are highlighted in the nonlinear structures of bistability/multistability. Finally, the major principles, structures, pros and cons, and the future research directions along with its challenges are discussed.

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Section: Bistable Structures For Robotics and Memsmentioning

confidence: 99%

Bistable Structures for Advanced Functional Systems

Cao

Derakhshani

Fang

et al. 2021

Adv Funct Materials

102

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“…Multiple bistable modules were introduced in parallel in a complete monolithic microsystem to switch a mobile part between multiple stable positions in a planar discrete workspace (Chalvet et al, 2013). Moreover, a multistable module based on the stepping principle was developed to replace all the bistable modules in the previous design (Hussein, 2015;Bouhadda et al, 2018;Hussein et al, 2018;Mohand-Ousaid et al, 2021). Notably, the use of multistable modules based on the stepping principle increased the number of stable positions, decreased the size of the structure and number of internal components, increased the accuracy of stable positions, and enabled more robust fabrication, easier control, and faster switching with a lower energy consumption.…”

Section: Working Principlementioning

confidence: 99%

Accurate Sensorless Multistable Microsystem With a Single Actuator

Hussein

Fariborzi

2022

Front. Mech. Eng.

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A compact and monolithic multistable microsystem was developed to realize the accurate positioning on the microscale by using a single actuator, without any positioning sensors. The mobile part can be maintained in several stable positions at rest with accurate intermediate steps and a high stability margin at each position. Switching between stable positions can be performed in both directions on one axis by using a single actuator. Using the mechanical intelligence encoded in the internal mechanisms, the mobile part position can be switched one step forward or back to the initial position through a single activation of the actuator. Multistable devices were designed and fabricated based on the working principle, and their satisfactory operation, with effective holding at stable positions and switching in two directions, was experimentally demonstrated.

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“…Reader can refer to [17] for more detail about the design, the fabrication, and the characterization of multistable modules. He/She can also refer to [19] for the repeatability and the reproducibility characterization of multistable modules.…”

Section: B Multistable Modulementioning

confidence: 99%

Compact Digital Microrobot Based on Multistable Modules

Mohand-Ousaid

Bouhadda²,

Bourbon³

et al. 2021

IEEE Robot. Autom. Lett.

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Current digital microrobots are mainly composed of bistable modules and flexible structures. Unlike conventional microrobots, they are based on mechanical stability instead of complex control strategies in order to reach precise and repeatable discrete positioning. By design, their number of stable positions depends on the number of bistable modules. As a consequence, increasing the robot workspace requires using several modules. In this case, the robot size increases and its miniaturization becomes complex and non-intuitive. To address this issue, a multistable module has been developed to reach several stable positions. In this paper, a new generation of digital microrobots is proposed. Based on two multistable modules and flexible structures, the new microrobot can reach a large workspace while having a small footprint. Concretely, the robot size decreases by 26% while the number of stable positions increases by 950% in comparison with the first generation of the digital microrobot. A prototype is designed, fabricated and characterized experimentally. Preliminary results show a good agreement between the expected and the achieved workspace. The robot achieves 169 stable positions with a discrete step of 4.125 µm and a resolution of 150 nm. With these capabilities, the robot paves the way for promising perspectives and applications, in particular precise micro-manipulation in confined environment such as a Scanning Electron Microscope.

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Repeatability and Reproducibility Analysis of a Multistable Module Devoted to Digital Microrobotics

Cited by 4 publications

References 16 publications

Bistable Structures for Advanced Functional Systems

Bistable Structures for Advanced Functional Systems

Accurate Sensorless Multistable Microsystem With a Single Actuator

Compact Digital Microrobot Based on Multistable Modules

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