Electromagnetic wobble micromotor for microrobots actuation

Cristofaro, S. De; Stefanini, Cesare; Pak, N. Ng; Susilo, E.; Carrozza, Maria Chiara; Dario, P.

doi:10.1016/j.sna.2010.04.028

Cited by 15 publications

(10 citation statements)

References 12 publications

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“…Other micro-motor types include the hula-hoop or wobble motor mentioned in Section V.B. Various promising piezoelectric [34], electrostatic [78], [86] and electromagnetic [87] implementations can be found in the literature. A more detailed introduction to micro-walking devices and ultrasonic motors can be found in the reviews by Peng et al [81], Takeshi Morita [88], Watson et al [89], Zhao [85] and Uchino [34].…”

Section: Dynamic Motion Amplification a Micro-walking And Microsmentioning

confidence: 99%

Micro Motion Amplification–A Review

et al. 2020

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Many motion-active materials have recently emerged, with new methods of integration into actuator components and systems-on-chip. Along with established microprocessors, interconnectivity capabilities and emerging powering methods, they offer a unique opportunity for the development of interactive millimeter and micrometer scale systems with combined sensing and actuating capabilities. The amplification of nanoscale material motion to a functional range is a key requirement for motion interaction and practical applications, including medical micro-robotics, micro-vehicles and micro-motion energy harvesting. Motion amplification concepts include various types of leverage, flextensional mechanisms, unimorphs, micro-walking / micro-motor systems, and structural resonance. A review of the research stateof-art and product availability shows that the available mechanisms offer a motion gain in the range of 10. The limiting factor is the aspect ratio of the moving structure that is achievable in the microscale. Flexures offer high gains because they allow the application of input displacement in the close vicinity of an effective pivotal point. They also involve simple and monolithic fabrication methods allowing combination of multiple amplification stages. Currently, commercially available motion amplifiers can provide strokes as high as 2% of their size. The combination of high-force piezoelectric stacks or unimorph beams with compliant structure optimization methods is expected to make available a new class of high-performance motion translators for microsystems.

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Section: Dynamic Motion Amplification a Micro-walking And Microsmentioning

confidence: 99%

Micro Motion Amplification–A Review

et al. 2020

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“…Conical motors are developed and applied [ 76 , 77 ]. Meanwhile, the different dynamic behaviors of Janus microspheres [ 78 , 79 , 80 ] and motors with other shapes [ 81 , 82 , 83 , 84 ] are studied. According to the theory of Mitrovic, the asymmetry of bubbles causes a pressure difference (Laplace pressure) [ 85 ] across the bubble interface, which drives the bubbles moving along the inner wall.…”

Section: Geometric Design Of Micromotormentioning

confidence: 99%

How to Make a Fast, Efficient Bubble-Driven Micromotor: A Mechanical View

et al. 2017

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Micromotors, which can be moved at a micron scale, have special functions and can perform microscopic tasks. They have a wide range of applications in various fields with the advantages of small size and high efficiency. Both high speed and efficiency for micromotors are required in various conditions. However, the dynamical mechanism of bubble-driven micromotors movement is not clear, owing to various factors affecting the movement of micromotors. This paper reviews various factors acting on micromotor movement, and summarizes appropriate methods to improve the velocity and efficiency of bubble-driven micromotors, from a mechanical view. The dynamical factors that have significant influence on the hydrodynamic performance of micromotors could be divided into two categories: environment and geometry. Improving environment temperature and decreasing viscosity of fluid accelerate the velocity of motors. Under certain conditions, raising the concentration of hydrogen peroxide is applied. However, a high concentration of hydrogen peroxide is not applicable. In the environment of low concentration, changing the geometry of micromotors is an effective mean to improve the velocity of micromotors. Increasing semi-cone angle and reducing the ratio of length to radius for tubular and rod micromotors are propitious to increase the speed of micromotors. For Janus micromotors, reducing the mass by changing the shape into capsule and shell, and increasing the surface roughness, is applied. This review could provide references for improving the velocity and efficiency of micromotors.

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“…In addition, the added reduction gear device may cause friction, mechanical backlash, or assembly errors, which may further cause malfunctions when it is operated. To avoid these problems, we selected a wobble motor because it is structurally simple and can generate a large torque due to the eccentric structure [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper

et al. 2020

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An electropermanent magnet (EM) can be fixed or rotated without applying the additional power of a wobble motor. This consists of a neodymium magnet and semi-hard magnet. A model to design a wobble motor for a wobble gripper without finite element analyses and to predict the attraction force according to the permanent magnet and current is necessary. In this paper, a force model is derived using distribution parameter and magnetic circuit analyses, including flux loss and fringing effects. It is not easy to design a complete magnetic circuit model considering the loss effects, but it can be constructed using a relatively straightforward method that simplifies the paths of leaked fluxes into arcs and straight lines. The model was verified by comparing the results of finite element analyses with measurements of two prototypes using internal and external fixed cases. The model properly predicts the attractive force between the rotor and stator and can be used in the initial design of a gripper that holds or rotates with the electropermanent magnet.

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Electromagnetic wobble micromotor for microrobots actuation

Cited by 15 publications

References 12 publications

Micro Motion Amplification–A Review

Micro Motion Amplification–A Review

How to Make a Fast, Efficient Bubble-Driven Micromotor: A Mechanical View

Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper

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