Title :
Microrobots realized by microstereophotolithography and actuated by shape memory alloys
Author :
Calin, M. ; Bertsch, A. ; Chaillet, N. ; Zissi, S. ; Ballandras, S. ; Andre, J.C. ; Bourjault, A. ; Hauden, D.
Author_Institution :
Lab. d´´Autom., CNRS, Besancon, France
Abstract :
A microrobot is a complex microsystem that requires the integration of different functions in a very small volume - a mechanical structure, actuators, sensors, coordinated by a control system. This paper presents some prototypes of microrobots, with diameter of 2 mm and 3D mobility. They are realized by microstereophotolithography (μSPL) and are actuated by shape memory alloy wires. We also present some results concerning the identification and control of our prototypes
Keywords :
identification; microactuators; motion control; photolithography; robot dynamics; shape memory effects; 3D mobility; actuators; identification; mechanical structure; microrobot; microstereophotolithography; motion control; sensors; shape memory alloy; Actuators; Assembly; Chemical lasers; Manufacturing; Polymers; Prototypes; Shape memory alloys; Space technology; Transistors; Wires;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.656808
