ICRA 2011 Paper Abstract

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Paper TuA104.1

Jing, Wuming (Stevens Institute of Technology), Chen, Xi (Stevens Institute of Technology), Lyttle, Sean (Stevens Institute of Technology), Fu, Zhenbo (Stevens Institute of Technology), Shi, Yong (Stevens Institute of Technology), Cappelleri, David (Stevens Institute of Technology)

A Magnetic Thin Film Microrobot with Two Operating Modes

Scheduled for presentation during the Invited Sessions "ICRA Robot Challenge: Advancing Research Through Competitions" (TuA104), Tuesday, May 10, 2011, 08:20−08:35, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Micro and Nanoscale Automation

Abstract

Abstract—Magnetic principles have proved successful for the untethered submillimeter microrobotics, although challenges still exist in areas of propulsion and control. This paper presents the design, analysis, and performance results for a bimorph thin film magnetic microrobot utilizing the magnetostrictive principle as a secondary oscillating operation mode. The microrobot is no larger than 580 um in its planar dimension and its total thickness is less than 5 um. As a robot with magnetic material, it can be operated in a pushing/pulling mode in orthogonal directions for movement in a plane, while it’s powered with an external magnetic field as low as 1mT. For the secondary oscillating mode utilizing the magnetostrictive principle, the induced in-plane strain, resulting in bending and blocking forces were theoretically calculated to prove enough drive force can be generated in this mode. The design was further abstracted and translated into a piezoelectric cantilever FEM model to confirm the theorectical results. Microrobot fabrication and test-bed development based on this analysis is shown, which enabled us to participate in the final competition in the 2010 NIST/IEEE Mobile Microrobot Challenge, with good performance in the dash and freestyle events. Finally, we discuss the testing results in various dry and fluid environments along with recommendations for future investigation and improvements.

 

 

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