DocumentCode
2912318
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
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
588
Lastpage
592
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICARCV.2008.4795584
Filename
4795584
Link To Document