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Analysis and Motion Control of a Centrifugal-Force Microrobotic Platform

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This paper presents the analysis, design, and closedloop motion control of a mobile microrobotic platform capable of micrometer positioning on a plane. The mobile microrobot, including chassis, actuators, drives, microprocessor, and electronics, is of low cost (less than $20), can be fabricated rapidly and is made of commercially available components. Its motion is induced by centrifugal forces generated by two vibration motors installed inside the platform body. The asynchronous operation of the vibration
motors is shown by simulation to result in planar motions of two degrees-of-freedom locally, with micrometer resolution. A motion controller has been designed to generate controlled motions using sets of motor angular velocities. A prototype has been developed and used to validate the motion principle and the controller efficacy. Open loop experiments show that the platform motion resolution is approximately 20 , while its speed is greater than 2 mm/s. Closed-loop experiments demonstrate a 5 resolution,
i.e., a fourfold improvement compared to the open loop experiments. The low cost, the rapid fabrication, and the micrometer motion resolution suggest that this microrobotic platform is a promising solution for low-cost microfactories, where a group of such robots performs high throughput, advanced microassembly
of microsystems. Note to Practitioners—The aim of this work is to increase the level of autonomy and motion flexibility in micromanipulation and microassembly tasks. Despite their nanometer resolution, current micromanipulation platforms either occupy extreme volumes with respect to their workspace or suffer from expensive and/or bulky power and driving units that limit their effectiveness in complex
cooperative tasks. The developed systemis a low-cost, tetheredless, fully autonomous, microrobotic platform that can perform micromanipulation and microassembly tasks, such as the cooperative
fabrication of microsystems or manipulation of biological specimens, in amicro scale environment. The platformmotion principle exploits the centrifugal forces generated by DC vibration motors installed in the body of a microrobot, that moves as cell phones move when they vibrate. Experiments showed that the closed-loop motion resolution is 5 . A group of such robots can be used in cooperative micromanipulation and/or microassembly tasks in the micrometer scale.
Index Terms—Microassembly, microrobotics, mobile robot, motion control, vibration motor.

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Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

No. Panggil

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Penerbit

: ., 2013

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 3, JULY 2013

Bahasa

English

ISBN/ISSN

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

VOL. 10, NO. 3

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

yuli/agus

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