Assembly and Disassembly of Magnetic Mobile Micro-Robots towards Deterministic 2-D Reconfigurable Micro-Systems
A primary challenge in the field of reconfigurable robotics is scaling down the size of individual robotic modules. We present a novel set of permanent magnet modules that are under 1 mm in all dimensions, called Mag-Mods, for use in a reconfigurable micro-system. The modules are actuated by oscillating external magnetic fields of several mT in strength, and are capable of locomoting on a 2-D surface. Multiple modules are controlled using an electrostatic anchoring surface, which selectively prevents specific modules from being driven by the external field, while allowing others to move freely. We model the processes of both assembling and disassembling two modules by analyzing the forces the modules experience, and experimentally verify the accuracy of the models. For disassembly, we employ electrostatic anchoring and externally applied magnetic torques to successfully separate the modules.
Chytra Pawashe Eric Diller Steven Floyd Metin Sitti
Department of Mechanical Engineering,Carnegie Mellon University,Pittsburgh,PA 15213,USA
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
261-266
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）