A miniature robot driven by smart power integrated circuits

Lopez-Sanchez, J.; Simu, Urban; Puig-Vidal, M.; Johansson, Stefan; Miribel-Català, Pere Ll.; Montane, E.; Bota, S.A.; Samitier, J.

doi:10.1109/irds.2002.1044042

Cited by 5 publications

(8 citation statements)

References 5 publications

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“…3,4). Remember that this result has been obtained considering a TPVD structure formed by four switching transistors with equal R ds value.…”

Section: Discharging Of C L During Charging Phase (Ii)mentioning

confidence: 66%

“…dt to t 3 = T -dt the steady-state V out voltage decreases from V o1 down to V o2 (see Figs. 2,3,4).…”

Section: Discharging Of C L During Transfer Phase (Ii)mentioning

confidence: 99%

“…14, it can be noticed that the inclusion of the NOCGEN circuits in the CBL ? KVCL analysis implies a new definition of the input average current I in , which is different from the one given by (4). The reason is that part of I in current does not flow into the TPVD structure and goes into the NOCGEN [0,1] circuit that generate CK 0 and CK 1 signals.…”

Section: Non-overlapping Clock Generationmentioning

confidence: 99%

“…Nanowalker [3], MINIMAN [4] and MiCRoN [5] are successful examples of miniaturized robots that have been developed to do such precise tasks. All of these robots have in common the use of piezoelectric (PZT) actuators and, some of them, can also be autonomous due to the use of on-board batteries [3,5].…”

Section: Introductionmentioning

confidence: 99%

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Charge pump design for high-voltage biasing applications in piezoelectric-based miniaturized robots

Saiz-Vela

Miribel-Català

Colomer

et al. 2008

Analog Integr Circ Sig Process

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Fully autonomous piezoelectric-based miniaturized robots usually have a high-voltage biasing system that provides the required voltage levels to drive properly their piezoelectric actuators. In this paper a novel on-board biasing system based on the cascade connection of three full-custom charge pump ICs is presented. Simulated and experimental results show that the proposed biasing system is capable to obtain a regulated output voltage up to 20 V from a 3.3 V battery and deliver successfully up to 120 mW of power. Moreover, a novel approach in the steady-state analysis of the two-phase voltage doubler (which is the core of the designed charge pump IC) has been developed in order to have a tool capable to provide a full understanding of the steady-state voltage doubler's behavior while at the same time accelerate and simplify the design process of such circuit. Simulated results show that the proposed mathematical model is more accurate than already developed models. The design of the charge pump IC has been implemented using a commercial 0.7 lm Bipolar-CMOS-DMOS (BCD) technology.

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“…3,4). Remember that this result has been obtained considering a TPVD structure formed by four switching transistors with equal R ds value.…”

Section: Discharging Of C L During Charging Phase (Ii)mentioning

confidence: 66%

“…dt to t 3 = T -dt the steady-state V out voltage decreases from V o1 down to V o2 (see Figs. 2,3,4).…”

Section: Discharging Of C L During Transfer Phase (Ii)mentioning

confidence: 99%

Section: Non-overlapping Clock Generationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Charge pump design for high-voltage biasing applications in piezoelectric-based miniaturized robots

Saiz-Vela

Miribel-Català

Colomer

et al. 2008

Analog Integr Circ Sig Process

Self Cite

View full text Add to dashboard Cite

show abstract

“…[3,4]. Examples of microrobots using 2 sets of 3 legs or more in the triangle support pattern is also available in the literature [5,6].…”

Section: Introductionmentioning

confidence: 99%

Monolithic fabrication of multilayer P(VDF-TrFE) cantilevers

Snis

Edqvist

Simu

et al. 2008

Sensors and Actuators A: Physical

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A multi-fingered micromechanism for coordinated micro/nano manipulation

Krishnan

Saggere

2007

J. Micromech. Microeng.

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Coordinated manipulation of micro-scale objects is critical for advancing several emerging applications such as microassembly and manipulation of biological cells. Most of the existing designs for micromanipulators are designed to accomplish primarily spatial positioning functionalities using positioning stages. Relatively, there are very few micromanipulators capable of ‘grip-and-place’ functionality that comprises both gripping and positioning at micro-scales. However, such manipulators are generally bulky. This paper introduces a novel concept of a miniaturized micromanipulator with multiple fingers for coordinated planar manipulation that involves both gripping and positioning of micro-scale objects. In this micromanipulator, multiple independently actuated fingers coordinate with each other to accomplish the manipulation. The paper presents a systematic design of the micromanipulator through shape optimization of each finger for a rationally chosen topology and a proof-of-concept prototype of the device fabricated using conventional microfabrication processes. Experimental results characterizing the input–output behavior of a finger mechanism in the prototype device are presented and an excellent correlation between the experimental results and the theoretical results validating both the design and the fabrication of the micromanipulator prototype is demonstrated. Experiments involving coordinated manipulation of 15 µm diameter polystyrene microspheres using multiple fingers in the micromanipulator station are also presented.

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A miniature robot driven by smart power integrated circuits

Cited by 5 publications

References 5 publications

Charge pump design for high-voltage biasing applications in piezoelectric-based miniaturized robots

Charge pump design for high-voltage biasing applications in piezoelectric-based miniaturized robots

Monolithic fabrication of multilayer P(VDF-TrFE) cantilevers

A multi-fingered micromechanism for coordinated micro/nano manipulation

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