Dual-stylus-arm scratch drive micro-robots controlled by an onboard parallax algorithm

Author

Arnold, Mark G. ; Cho, Jung H.

Author_Institution

Lehigh Univ., Bethlehem, PA, USA

fYear

2010

fDate

3-7 May 2010

Firstpage

3147

Lastpage

3152

Abstract

A novel approach to controlling the turning operation of MEMS Scratch-Drive-Actuator (SDA) micro-robots has been developed. The operation of MEMS SDA has been well demonstrated by the research of Donald et al. [1][2][3]. An improvement of adding an additional stylus arm to control left and right rotation as well as using both arms to halt is discussed. In order to eliminate the complication of different stress curling to control multiple micro-robots, an alternative solution of controlling electrical connections between the parallel plate body and stylus arms is presented. By applying this new control, a novel onboard parallax algorithm was developed that allows a micro-robot to move towards a target without any external control.

Keywords

microactuators; microrobots; position control; MEMS scratch-drive-actuator; dual-stylus-arm scratch; left rotation control; micromechanical devices; microrobots; onboard parallax algorithm; right rotation control; turning operation; Arm; Automatic control; CMOS logic circuits; Electrodes; Micromechanical devices; Robots; Stress; Turning; USA Councils; Voltage; MEMS; SDA; micro-robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509603

Filename

5509603