Concept Validation for a Novel Stick-and-Slip, Light-Powered, Mobile Micro-Crawler

2019 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)(2019)

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摘要
In this paper we present recent research results aimed at creating mobile micro-robotic agents powered by light energy. The SolarPede is a second-generation, cm-scale micro-crawler equipped with a legged locomotion system and an electronic backpack, targeting micro-factory applications. This novel micro-robot is an advancement in functionality and design over its decade-old predecessor, the ARRIpede, and includes technological advancements such as Bluetooth wireless communication, light power, and omnidirectional mobility on a flat substrate. The robot body consists of Micro Electro Mechanical System (MEMS) electrothermal actuators and micro-assembled vertical legs. Attached to the body is an electronic backpack realized using a custom-made Printed Circuit Board and interfaced to the body via a wire-bonded package. A simulation model for the SolarPede was created to predict system behavior and dynamic operation, and to serve as a design tool. Simulation results of leg motion were compared with experimental displacement measurements and the model was extended to the operation of the micro-robot in “belly-up” conveyor mode. Finally, optical microscopy was employed to experimentally measure the omni-directional motion of the SolarPede, and the robot power balance under a Solar simulator lamp was experimentally confirmed, thus validating the concept. Results suggest that continuous velocities of 15 μm/s can be achieved by the micro-robot in untethered operation.
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关键词
light energy,SolarPede,legged locomotion system,electronic backpack,microfactory applications,technological advancements,light power,omnidirectional mobility,flat substrate,robot body,wire-bonded package,simulation model,design tool,leg motion,experimental displacement measurements,robot power balance,Solar simulator lamp,system behavior prediction,stick-and-slip light-powered mobile microcrawler,mobile microrobotic agents,second-generation cm-scale microcrawler,Bluetooth wireless communication,microelectromechanical system electrothermal actuators,MEMS electrothermal actuators,microassembled vertical legs,custom-made printed circuit board,dynamic operation,belly-up conveyor mode,optical microscopy,omnidirectional motion measurement,untethered operation,velocity 15.0 mum/s
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