Title :
First experiments on MagPieR: A planar wireless magnetic and piezoelectric microrobot
Author :
Ivan, Ioan Alexandru ; Hwang, Gilgueng ; Agnus, Joel ; Rakotondrabe, Micky ; Chaillet, Nicolas ; Régnier, Stéphane
Author_Institution :
Autom. Control & Micro-Mechatron. Syst. Dept., UTBM, Besancon, France
Abstract :
The paper documents the principle and experiments of the "2mm dash" winner at NIST IEEE Mobile Microrobotics Challenge held at ICRA2010 in Alaska [1]. Submission is made for the special session "ICRA Robot Challenge: Advancing Research Through Competitions". The new MagPieR microrobot was specially designed for breaking the speed record, providing a planar magnetic actuation with an optimised coils setup and a subsequent piezoelectric actuation for improved sliding condition. The paper describes the principle of actuation, the microrobot manufacturing flowchart and the assembly setup. Some simulations are provided with a first series of experimental data and conclusions.
Keywords :
electromagnetic actuators; microrobots; mobile robots; piezoelectric actuators; Advancing Research Through Competitions; ICRA2010; MagPieR microrobot; NIST IEEE Mobile Microrobotics Challenge; assembly setup; coils setup optimisation; improved sliding condition; microrobot manufacturing flowchart; piezoelectric actuation; piezoelectric microrobot; planar magnetic breaking; planar wireless magnetic microrobot; speed record; Adhesives; Coils; Electrodes; Force; Magnetic fields; Propulsion; Robots;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979885
