Digital Microrobotics Based on Bistable Modules: Design of Compliant Bistable Structures

In the context of micromanipulation and microassembly, we propose in this paper a new type of microrobot based on bistable modules: digital microrobots. This concept consists in building a monolithic microrobot using microfabrication technology without any assembly. It gets over the difficulties of traditional microrobots: non-linear control, integration of sensors, noise, etc. Each module contains a bistable structure and actuators. No external energy input is needed to maintain the structure in a stable position. This opens a paradigm in the microrobotis field allowing the design of a paradigm in the microrobotics fileld allowing the design of various kinematics adapted to the microworld.