ICRA 2011 Paper Abstract


Paper WeA206.5

Vogtmann, Dana (University of Maryland, College Park), Bergbreiter, Sarah (University of Maryland, College Park), Gupta, S.K. (University of Maryland)

Multi-Material Compliant Mechanisms for Mobile Millirobots

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots II" (WeA206), Wednesday, May 11, 2011, 11:05−11:20, Room 5A

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 July 5, 2020

Keywords Micro/Nano Robots, Biologically-Inspired Robots


This paper describes a new process for fabricating planar, multi-material, compliant mechanisms, intended for use in small robotics. The process involves laser cutting the mechanism geometry from a rigid material, and refilling the joint areas with a second, elastomeric material. This method allows for a large set of potential materials, with a wide range of material properties, to be used in combination to create mechanisms with highly tailored mechanical properties. These multi-material compliant mechanisms have minimum feature sizes of approximately 100 Ám and have demonstrated long lifetimes, easily surviving 100,000 bending cycles. We also present the first use of these compliant mechanisms in a 2.5cm x 2.5cm x 7.5cm, 6g hexapod. This hexapod has been demonstrated moving at speeds up to 6 cm/s, with a predicted maximum speed of up to 17 cm/s.



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