Compact Digital Microrobot Based on Multistable Modules
| Autor: | Philippe Lutz, Ismaïl Bouhadda, Yassine Haddab, Patrice Le Moal, Gilles Bourbon, Abdenbi Mohand-Ousaid |
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| Přispěvatelé: | Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Micro/nano robots Bistability Computer science [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] Biomedical Engineering 02 engineering and technology Kinematics Solid modeling Workspace [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Artificial Intelligence Electronic engineering Miniaturization digital microrobots Mechanical Engineering [PHYS.MECA]Physics [physics]/Mechanics [physics] 021001 nanoscience & nanotechnology Computer Science Applications Human-Computer Interaction discret workspace mutistable module Control and Systems Engineering Robot Computer Vision and Pattern Recognition 0210 nano-technology Actuator Resolution (algebra) |
| Zdroj: | 38th IEEE International Conference on Robotics and Automation (ICRA 2021) 38th IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an (virtual), China. pp.1926-1933, ⟨10.1109/LRA.2021.3061003⟩ IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp.1926-1933. ⟨10.1109/LRA.2021.3061003⟩ ICRA 2021-38th IEEE International Conference on Robotics and Automation |
| ISSN: | 2377-3766 |
| Popis: | International audience; Current digital microrobots are mainly composed of bistable modules and flexible structures. Unlike conventional microrobots, they are based on mechanical stability instead of complex control strategies in order to reach precise and repeatable discrete positioning. By design, their number of stable positions depends on the number of bistable modules. As a consequence, increasing the robot workspace requires using several modules. In this case, the robot size increases and its miniaturization becomes complex and non-intuitive. To address this issue, a multistable module has been developed to reach several stable positions. In this letter, a new generation of digital microrobots is proposed. Based on two multistable modules and flexible structures, the new microrobot can reach a large workspace while having a small footprint. Concretely, the robot size decreases by 26% while the number of stable positions increases by 950% in comparison with the first generation of the digital microrobot. A prototype is designed, fabricated and characterized experimentally. Preliminary results show a good agreement between the expected and the achieved workspace. The robot achieves 169 stable positions with a discrete step of 4.125 μm and a resolution of 150 nm. With these capabilities, the robot paves the way for promising perspectives and applications, in particular precise micro-manipulation in confined environment such as a Scanning Electron Microscope. |
| Databáze: | OpenAIRE |
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