Parallel Microrobot Actuated by Capillary Effects
This paper presents a new actuation mean for a parallel microrobot based on capillary effect, combining surface tension and pressure effects. The device presented is a compliant moving table having 6 degrees of freedom (dof) among which three are actuated: z axis translation having a stroke of a few hundreds of microns, and θx and θy tilt angles up to about 15°. The structure is immersed in a liquid and the actuation principle is based on fluidic parameters (pressure and volume). A model to calculate the stiffness of the system is presented and validated by experimental measurements. Some issues inherent to this type of actuation are also addressed. The presented device is an illustration of a promising solution for microrobotic actuation using capillary effects in a liquid media.
Cyrille Lenders Micha(e)l Gauthier Pierre Lambert
Faculty of Applied Sciences,Bio Electro and Mechanical Systems Department,Université libre de Bruxel FEMTO-ST Institute,AS2M Department,24 rue Savary,25000 Besan(c)on,France Faculty of Applied Sciences,Bio Electro and Mechanical Systems Department,Université libre de Bruxel
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
6015-6020
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）