Wireless resonant magnetic microactuator for untethered mobile microrobots

Vollmers, Karl; Frutiger, Dominic R.; Kratochvil, Bradley E.; Nelson, Bradley J.

doi:10.1063/1.2907697

Cited by 115 publications

(66 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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%

See 1 more Smart Citation

Jitterbot: A Mobile Millirobot Using Vibration Actuation

et al. 2011

View full text Add to dashboard Cite

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.

show abstract

“…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%

“…Such power fields can be electrostatic [3], magnetic [4,5], or vibrational or -seismic‖ [6][7][8]. Control signals can be conveyed through the frequency components of the energy field.…”

Section: Open Accessmentioning

confidence: 99%

Jitterbot: A Mobile Millirobot Using Vibration Actuation

et al. 2011

View full text Add to dashboard Cite

show abstract

“…Using magnetic forces as a direct propulsion method requires a stronger magnetic field to move the micro-device [21], but generates higher magnetic forces when interacting with micro-objects. Besides, magnetic forces can be used to create vibrations in a micro-robot [30] [31] [32], leading to motion at its resonance mode. In the case of the magnetically actuated systems purposed for in vivo or in vitro biomedical applications, the biocompatibility of magnetic materials is important for such magnetic systems.…”

Section: Challenges Of Magnetic Micro-robot Actuationmentioning

confidence: 99%

An overview of multiple DoF magnetic actuated micro-robots

Bouchebout

Bolopion

Abrahamians

et al. 2012

J. Micro-Nano Mech.

View full text Add to dashboard Cite

This paper reviews the state of the art of untethered, wirelessly actuated and controlled micro-robots. Research for such tools is being increasingly pursued to provide solutions for medical, biological and industrial applications. Indeed, due to their small size they offer both high velocity, and accessibility to tiny and clustered environments. These systems could be used for in vitro tasks on lab-on-chips in order to push and/or sort biological cells, or for in vivo tasks like minimally invasive surgery and could also be used in the micro-assembly of microcomponents. However, there are many constraints to actuating, manufacturing and controlling micro-robots, such as the impracticability of on-board sensors and actuators, common hysteresis phenomena and nonlinear behavior in the environment, and the high susceptibility to slight variations in the atmosphere like tiny dust or humidity. In this work, the major challenges that must be addressed are reviewed and some of the best performing multiple DoF micro-robots sized from tens to hundreds µm are presented. The different magnetic micro-robot platforms are presented and compared. The actuation method as well as the control strategies are analyzed. The reviewed magnetic micro-robots highlight the ability of wireless actuation and show that high velocities can be reached. However, major issues on actuation and control must be overcome in order to perform complex micro-manipulation tasks.

show abstract

“…Most current micro-robots rely on external actuation and/or power to function, and usually have further limitations as well. 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

View full text Add to dashboard Cite

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.

show abstract

Wireless resonant magnetic microactuator for untethered mobile microrobots

Cited by 115 publications

References 8 publications

Jitterbot: A Mobile Millirobot Using Vibration Actuation

Jitterbot: A Mobile Millirobot Using Vibration Actuation

An overview of multiple DoF magnetic actuated micro-robots

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

Contact Info

Product

Resources

About