Design and simulation of wireless, walking scratch-drive micro-robot

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...

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Bibliographic Details
Main Authors: Dumsong, E., Afzulpurkar, N., Tuantranont, A., Punyasai, C.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Arm
Bonding
capacitive coupling
Controllability
Electrostatics
Gold
Legged locomotion
micro-robot
scratch drive actuators
Structural beams
Voltage
Wire
wireless
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Description
Summary: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.
DOI:10.1109/ICARCV.2008.4795584