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Abstract

This paper presents the analysis, design and closedloop control of a mobile microrobotic platform capable of micrometer positioning on a plane. The platform 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 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 20μm while its speed is greater than 2mm/s. Closed-loop experiments demonstrate a 5μm resolution, i.e. a five-fold 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 system is a low-cost, tetherless, fully autonomous, microrobotic platform that can perform micromanipulation and microassembly tasks, such as the cooperative fabrication of microsystems or manipulation of biological specimens, in a micro scale environment. The platform motion 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 5μm. A group of such robots can be used in cooperative micromanipulation and/ or microassembly tasks in the micrometer scale.

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Cite this paper

@inproceedings{Vartholomeos2014RT, title={> Replace This Line with Your Paper Identification Number ( Double - Click Here}, author={Panagiotis Vartholomeos and Kostas Vlachos and Emmanouil Papadopoulos}, year={2014} }