Title :
Design and simulation of wireless, walking scratch-drive micro-robot
Author :
Dumsong, Eakkasit ; Afzulpurkar, Nitin ; Tuantranont, Adisorn ; Punyasai, Chumnarn
Author_Institution :
Sch. of Eng. & Technol., Asian Inst. of Technol., Pathumthani
Abstract :
We present the design of prototype electrostatic scratch-drive micro-robot with dimensions of 365 mum times75 mum. The micro-robot consists of three scratch drive actuators (SDA) and two steering arms. The method of motion is controlled by delivering power via capacitive coupling, with an underlying electric grid, to micro-robot. Then, micro-robot can move freely without connected wire. The behavior of micro-robot using analytical solutions and FEM simulation (ANSYS) has been investigated.
Keywords :
finite element analysis; microrobots; motion control; robot dynamics; capacitive coupling; finite element analysis; scratch drive actuators; steering arms; walking scratch-drive microrobot; Actuators; Arm; Bonding; Controllability; Electrostatics; Gold; Legged locomotion; Structural beams; Voltage; Wire; capacitive coupling; micro-robot; scratch drive actuators; wireless;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795584
