ICRA 2011 Paper Abstract


Paper TuA104.5

Pac, Muhammed Rasid (University of Texas at Arlington), Popa, Dan (The University of Texas at Arlington)

3-DOF Untethered Microrobot Powered by a Single Laser Beam Based on Differential Thermal Dynamics

Scheduled for presentation during the Invited Sessions "ICRA Robot Challenge: Advancing Research Through Competitions" (TuA104), Tuesday, May 10, 2011, 09:20−09:35, 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/Nano Robots


The paper proposes a method of using laser as both a source of energy and means of control for untethered microrobots. Instead of using multiple laser spots to thermally control the motion of multiple robot actuators, the paper proposes to shape the power, frequency, and duty cycle of a single laser beam focused onto the whole body of the robot. It is shown through simulations that an appropriate selection of laser parameters along with a corresponding mechanical design can generate appropriate “stick and slip” motions resulting in 3-DOF (planar) operation for the microrobot with nonholonomic constraints. Based on the simulation results, we anticipate that the microrobot with a thickness of a few micrometers and a width of several hundred micrometers can achieve speeds in excess of a few mm/second, comparable with more conventional electrostatically and electromagnetically actuated microrobots. Initial experiments on chevron actuators confirm that pulsed laser can effectively drive stick-slip microrobots.



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