Microrobots Realized By Microstereophotolithography And Actuated By Shape Memory Alloys

Mihai Calin,Arnaud Bertsch,Nicolas Chaillet,Sophie Zissi,Sylvain Ballandras,J. C. Andre,Alain Bourjault,Daniel Hauden

IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3（1997）

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摘要

A microrobot is a complex microsystem that requires the integration of different functions in a very small volume : a mechanical structure, actuators, sensors, coordinated by a central system. Our video tape presents some prototypes of microrobots, with diameter of 2 mm and 3D mobility They are realized by microstereophotolithography, (mu SPL) and are actuated by shape memory alloy (SMA) wires. We also present some results concerning the identification and control of our prototypes.

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关键词

shape memory alloys,space technology,control system,motion control,prototypes,sensors,photolithography,actuators,assembly,manufacturing,polymers,identification,shape memory alloy,transistors

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