Thermally actuated untethered impact-driven locomotive microdevices

Sul, Onejae; Falvo, M. R.; Taylor, Russell M.; Washburn, S.; Superfine, R.

doi:10.1063/1.2388135

Cited by 84 publications

(60 citation statements)

References 12 publications

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“…The net result is translation in the direction of the oscillating arm. This type of stick-slip motion has been used by other microrobots [3][4][5]10].…”

Section:  Front Leg Rear Legsmentioning

confidence: 99%

Jitterbot: A Mobile Millirobot Using Vibration Actuation

et al. 2011

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Microrobotics is a rapidly growing field with promising applications in microsurgery and microassembly. A challenge in these systems is providing power and control signals to the robot. This project explores crawling robots that are powered and controlled through a global mechanical vibration field. Structures within the robot will cause it to respond to particular frequencies with different motion modalities. A prototype, dubbed the -jitterbot‖, was cut out of a 0.75 mm sheet of steel using electric discharge machining (EDM), and has a total footprint of approximately 30 mm × 20 mm in the xy-plane. The -robot‖ has a tripod body (8 mm × 16 mm) with three small legs, and two suspended masses that are designed for specific resonance frequencies. The robot was tested on a plate that was vibrated vertically at frequencies ranging from 20 to 2,000 Hz. For particular resonant frequencies, the robot moves forward and turns in either a clockwise or counterclockwise direction. Finite element modeling confirms that the mechanism for motion is a rocking mode that is influenced by two arms that are suspended mass springs tuned to different frequencies. This lays the groundwork for further miniaturization.

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“…The net result is translation in the direction of the oscillating arm. This type of stick-slip motion has been used by other microrobots [3][4][5]10].…”

Section:  Front Leg Rear Legsmentioning

confidence: 99%

Jitterbot: A Mobile Millirobot Using Vibration Actuation

et al. 2011

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“…Tetherless microrobot actuation has been achieved using a number of different power delivery methods including optical [2], electrostatic [3], thermal [4], ultrasonic [5] and electromagnetic [6]. A review of propulsion methods specific to swimming microrobots medical applications is given in [7].…”

Section: Open Accessmentioning

confidence: 99%

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

2014

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Abstract:Microrobots have a number of potential applications for micromanipulation and assembly, but also offer challenges in power and control. This paper describes an uncalibrated vision-based control system for magnetically actuated microrobots operating untethered at the interface between two immiscible fluids. The microrobots are 20 μm thick and approximately 100-200 μm in lateral dimension. Several different robot shapes are investigated. The robots and fluid are in a 20 × 20 × 15 mm vial placed at the center of four electromagnets. Pulse width modulation of the electromagnet currents is used to control robot speed and direction. Given a desired position, a controller based on recursive least square estimation drives the microrobot to the goal without a priori knowledge of system parameters such as drag coefficients or intrinsic and extrinsic camera parameters. Results are verified experimentally using a variety of microrobot shapes and system configurations.

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“…This implies that the pinned assumption was false, and the micro-robot has broken contact with the surface. Equations (10)(11)(12) are resolved using N = 0 and F f = 0.…”

Section: Magnetic Micro-robotmentioning

confidence: 99%

“…These limitations include restrictions such as requiring tethers [1]- [3], a fluid environment [4]- [7], or a specialized operating surface [8]- [11]. Further, though many miniature robots exist on the centimeter or millimeter scale, true micron-scale robots, with all characteristic lengths on the order of tens to hundreds of microns, are still quite rare [4], [5], [9], [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot

Floyd¹,

Pawashe²,

Sitti³

2008

Robotics: Science and Systems IV

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Abstract-This work presents the dynamic modeling of an untethered electromagnetically actuated magnetic micro-robot, and compares computer simulations to experimental results. The micro-robot, which is composed of neodymium-iron-boron with dimensions 250 µm x 130 µm x 100 µm, is actuated by a system of 5 macro-scale electromagnets. Periodic magnetic fields are created using two different control methods, which induce stick-slip motion in the micro-robot. The effects of model parameter variations on micro-robot velocity are explored and discussed. Micro-robot stick-slip motion is accurately captured in simulation. Velocity trends of the micro-robot on a silicon surface as a function of magnetic field oscillation frequency and magnetic field strength are also captured. Mismatch between simulation and reality is discussed.

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Thermally actuated untethered impact-driven locomotive microdevices

Cited by 84 publications

References 12 publications

Jitterbot: A Mobile Millirobot Using Vibration Actuation

Jitterbot: A Mobile Millirobot Using Vibration Actuation

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot

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