&lt;title&gt;Stick and slip actuators and parallel architectures dedicated to microrobotics&lt;/title&gt;

Breguet, J.-M.; Pernette, Eric; Clavel, Reymond

doi:10.1117/12.260626

Cited by 42 publications

(19 citation statements)

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“…Fine movements of the slave nanomanipulator are carried out by applying an analog voltage to the piezoelectric actuators, thus movements in the nanometer range can be achieved. For coarse movements the stick-slip principle [15] is applied. This allows driving the manipulator like a stepper motor, where one coarse step corresponds to one stick-slip driving pulse.…”

Section: Controlling Of the Nanomanipulatormentioning

confidence: 99%

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

Sieber

Valdastri

Houston

et al. 2008

Sensors and Actuators A: Physical

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Section: Controlling Of the Nanomanipulatormentioning

confidence: 99%

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

Sieber

Valdastri

Houston

et al. 2008

Sensors and Actuators A: Physical

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“…A version that is suited for use inside the vacuum chamber of an SEM is called MINIMAN III. Piezoelectric actuators provide translation and rotation in the xy-plane using stick-slip motion (see Breguet et al 1996). The achievable resolution of this motion is approximately 20 nm resulting from the resolution of the D/A converters.…”

Section: ) Assembly By Micro-robotsmentioning

confidence: 99%

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

Probst¹,

Hürzeler²,

Borer³

et al. 2009

International Journal of Optomechatronics

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This paper presents a full 6 DOF microassembly system that features a novel remote center of motion configuration paired with advanced vision and illumination modules, as well as innovative user interaction concepts. Even though the semi-automatic design is primarily focused on the assembly of 3D bio-microrobotic devices out of individual 2.5D MEMS components, it can be configured for a large variety of assembly tasks. A gripper exchange mechanism allows reaching for parts with dimensions ranging from 5-800 m and a micro-fabricated platform featuring a special pattern provides a structured working area. The assembly of a miniature bio-microrobot is presented to demonstrate the dexterity and powerful features of this system. The underlying microassembly station combines multiple concepts for another step towards full manipulation automation in industrial and research applications.

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“…Before a nal estimation this has to be investigated further. This new platform design has some advantages compared to other known mobile platforms, driven by the slip-stick principle [13][14][15][16][17][18]. Generally, slip-stick-driven platforms have to work on a wear-resistant surface to prevent damaging the surface, because the small contact areas of the platforms slip in high frequencies over the surface.…”

Section: Mobile Platformmentioning

confidence: 99%

“…The mobile platforms are driven by the slip-stick principle [6,13,14]. Piezo discs, usually used for piezo buzzers are serving as actuators.…”

Section: Mobile Platformmentioning

confidence: 99%

Development of a mobile nanohandling robot

Kortschack¹,

Fatikow²

2002

Journal of Micromechatronics

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Miniaturized nanohandling robots or microrobots are widely used in different elds of application (e.g. microassembly, handling of biological cells or characterisationof nano layers), when a high positioning accuracy in the low ¹m or nm-range is required. A robot-based nanohandling station using a scanning electron microscope (SEM) or a light microscope is introduced. The microrobots working in that nanohandling station are driven by a novel actuator system. These actuators enable the microrobots to perform movements in coarse-and ne-positioningmodes offering a nanometer precision. Preliminary to the long term aim to realize autonomous microrobots, the feasibility of the integration of an on-board power supply has been shown. First simple manipulation tasks performed with a newly developed microrobot are introduced as well.

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<title>Stick and slip actuators and parallel architectures dedicated to microrobotics</title>

Cited by 42 publications

References 0 publications

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

Development of a mobile nanohandling robot

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