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

fYear

2011

fDate

9-13 May 2011

Firstpage

102

Lastpage

108

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979885

Filename

5979885