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Magnetic principles have proved successful for untethered submillimeter microrobotics, although challenges still exist in areas of propulsion and control. This paper presents the design, analysis, and performance results for a bimorph thin film magnetic microrobot utilizing the magnetostrictive principle as a secondary oscillating operation mode. The(More)
In this paper, we present a novel approach to micromanipulation and assembly tasks using caging micro-manipulation motion primitives for 2D and 3D autonomous micromanipulation and assembly tasks. A flexible, multi-scale test-bed, developed for use in conjunction with these primitives, is described first. The approach and motion primitives are then(More)
In this paper we demonstrate coordinated control of multiple micromanipulators for use in automated 3D micromanipulation and assembly tasks. We build on our previous work on caging micromanipulation by using a similar methodology and extend it to the 3D case. Simultaneous movements of the coordinated micromanipulators normal to the caging polygon allows for(More)
In this paper, we demonstrate a systematic way to determine configurations for up to four coordinated micro-manipulators to form caging grasps for transporting micro-scale planar, polygonal parts. We exploit the geometry of the part, noting the presence and location of convex corners and non-convex corners, and form opposing force equivalents with the(More)
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