Papers by Keyword: Microrobot

Abstract: Generally the in-pipe microrobots can be used for the mobile inspection of small diameter pipes. This paper describes the structure and design of an in-pipe microrobot. The suggested microrobot was built to use wheels for locomotion, and to be able to adapt its structure according to the inner diameter of the inspected pipe. Being powered using wires, the microrobot is not energetically autonomous. The microrobot is able to maintain its balanced state due to the pressure exerted by the wheels onto the inner surface of the pipe and it can adapt to pipe diameters ranged between 30 an 50 mm. The driving is achieved by using a DC motor with integrated gearbox. Motion transmission from the motor to the drive wheels is done by using three geared transmissions and the contact between the wheels and the pipe wall is continuously maintained trough a torsion springs mounted on the rotational joints of the wheel support elements. The testing of the microrobot was performed using a steel pipe with the diameter of 50 mm, placed both horizontally and vertically.

Abstract: A mobile self-reconfigurable microrobot actuated by MEMS-based electromagnetic micromotors is presented. Normal stepping control methods for electromagnetic micromotor are introduced. To improve the locomotion accuracy of the microrobot and the efficiency of automatic docking between them more, a Changeable Virtual Winding Method (CVWM) for high-accuracy microstepping control is developed. Experimental results demonstrate the feasibility of the concept.

Abstract: This paper presents a feasibility step in the development of biomimetic microrobotic insects. Advanced engineering technologies available for applications such as the micro-electro-mechanical system (MEMS) technologies are used. A flapping-wing flying MEMS concept and design inspired from insects is first described. Then different kinds of materials used feasibly for flapping-wing microrobotic insect by MEMS technology, such as SU-8, Titanium alloy and Parylene-C, are discussed. And artificial insect wings and thoraxs with different materials by MEMS Technology are fabricated and analyzed. Finally, summarize the paper and propose future research priorities.

Abstract: In this paper, an insect-based flapping-wing flying microrobot was built which can successfully fly in the sky. The unsteady aerodynamics associated with this microrobot was studied by using the method of computational fluid dynamics (CFD). On the basis of numerical simulation, the Fluid-Structure coupling mechanics for flexible flapping-wings were studied and discussed. According to the practically developed flapping-wing microrobot, a 2-D simulation model for flexible flapping-wings was established. Fluid-Structure coupling deformation and the effects of this model on the aero dynamic performance were analyzed, which have offered a theoretical basis for design of the aircraft with flexible flapping-wing. In order to verify the results of numerical simulation, aerodynamic performance tests have been conducted for the rigid and flexible flapping-wings in a low turbulence and low Reynolds number wind tunnel.

Abstract: An Ionic polymer metal composites (IPMC) actuated 3D swimming microrobot is presented first. Inspired by biologic fins, passive plastic fin is attached to the IPMC strip to increase the thrust. Infrared sensors are equipped for wireless control and autonomous navigation. Then propulsive efficiency analyses are carried out. From the water electrolysis influence analysis of the IPMC, the best working voltage is confirmed. Finally, a two parts IPMC actuator is presented to improve the propulsive efficiency of the microrobot after the analysis of propulsive efficiency of caudal fin.

Abstract: The paper reports on the main assumptions and guidelines regarding construction of a novel type of parallel micro-robot with 3 degrees of freedom. Such micromanipulator is a hybrid construction, consisting of three arms connected together in parallel structure. The mechanical construction is a combination of rotational joints with bearings and flexible compliant joints so called: flexures. The whole construction measures several cubic centimeters and operates within c.a. 4 cubic centimeters workspace. In addition, the article relates to selected aspects of the control system, mathematical analysis of kinematics, basic simulations, specification of the range of movement of all actuators, and workspace of the moving platform. Modeling flexures using FE method will also be presented.