A Microfabricated Planar Digital Microrobot for Precise Positioning Based on Bistable ModulesReport as inadecuate




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1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies

Abstract : Size reduction is a constant objective in new technologies, for which very accurate devices are needed when manipulating sub-millimetric objects. A new kind of microfabricated microrobot based on the use of bistable modules is designed to perform open-loop controlled micropositioning tasks. The DiMiBot Digital MicroroBot opens a new paradigm in the design of microrobots by using mechanical stability instead of complex control strategies. We propose a new architecture of digital microrobot for which forward and inverse kinematics models are easy to use. These kinematic models are validated with FEA simulations before the fabrication of a real DiMiBot prototype. Tests and characterization of the prototype are made and compared to the desired behavior. Thanks to its submicrometric resolution and to its small dimensions 400 μm thickness, it is able to manipulate micro-objects in confined environments, where no other robot can be used.





Author: Vincent Chalvet - Yassine Haddab - Philippe Lutz -

Source: https://hal.archives-ouvertes.fr/



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