Magnetically-Actuated Micro-Scale Bristle-Bots

Kim, DeaGyu; Hao, Zhijian; Wang, Tony H.; Ansari, Azadeh

doi:10.1109/marss49294.2020.9307902

Cited by 9 publications

(3 citation statements)

References 31 publications

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“…However, because of the influence of the scale effect, the applicability of these actuation methods at the microscale is quite limited. Among the more applicable actuation methods at the microscale are magnetic actuation [ 9 , 10 , 11 , 12 ], electrostatic actuation [ 13 ], piezoelectric actuation [ 14 , 15 , 16 , 17 , 18 ], photothermal actuation [ 19 , 20 ], acoustic actuation [ 21 , 22 ], chemical actuation [ 23 , 24 ], and biological actuation [ 25 , 26 ]. Biological actuation is an ideal actuation method, but it has only been developed in theoretical research.…”

Section: Methodsmentioning

confidence: 99%

Miniature Ultralight Deformable Squama Mechanics and Skin Based on Piezoelectric Actuation

Lü

et al. 2021

Micromachines

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A miniature deformable squama mechanics based on piezoelectric actuation inspired by the deformable squama is proposed in this paper. The overall size of the mechanics is 16 mm × 6 mm × 6 mm, the weight is only 140 mg, the deflection angle range of the mechanical deformation is −15°~45°, and the mechanical deformation is controllable. The small-batch array processing of the miniature deformable squama mechanics, based on the stereoscopic process, laid the technological foundation for applying the deformed squama array arrangement. We also designed and manufactured a small actuation control boost circuit and a mobile phone piezoelectric control assistant application that makes it convenient to perform short-range non-contact control of the deformation of the squama. The proposed system arranges the deformed squamae into groups to form the skin and controlls the size and direction of the signals input to each group of the squama array, thereby making the skin able to produce different shapes to create deformable skin.

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Section: Methodsmentioning

confidence: 99%

Miniature Ultralight Deformable Squama Mechanics and Skin Based on Piezoelectric Actuation

Lü

et al. 2021

Micromachines

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“…The drive will be an undercarriage propelling magnetic [12] or magneto-mechanical [3] tiles we have already developed and tested. Since our preliminary experiments utilizing mechanically actuated bristle-bots indicated a lack of reliability and repeatability, our further research will probably move towards the actuation via a magnetic field [21].…”

Section: Future Workmentioning

confidence: 99%

Self-Stabilizing Self-Assembly

Jílek¹,

Stránská²,

Somr³

et al. 2022

Preprint

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The emerging field of passive macro-scale tilebased self-assembly (TBSA) holds promise for enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, the current TBSA methodology still does not fulfill its potential, largely because such assemblies are typically error-prone and the size of an individual assembly is limited by a lack of mechanical stability. Moreover, the instability issue becomes worse as assemblies become larger. Here, using a novel type of tile that is carried by a bristle-bot drive, we propose a framework that reverts this tendency; i.e., as an assembly grows, it becomes more stable. Using physicsbased computational experiments, we show that a system of such tiles indeed possesses self-stabilizing characteristics and enables building assemblies containing hundreds of tiles. These results indicate that one of the main current limitations of mechanical, agitation-based TBSA approaches might be overcome by employing a swarm of free-running sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.

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“…A millimeter-scale vibration-driven robot with a bristle-type suspension and a piezoelectric actuator is considered in Kim et al (2020a) . The novel design of the bristle-type platform made of magnetic material is experimentally tested in Kim et al (2020b) . Paper ( Choi et al, 2020 ) is dedicated to studying the dynamic behavior and solving the parameters optimization problem of an in-pipe robot with elastic bristles.…”

Section: Introductionmentioning

confidence: 99%

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Korendiy,

Kachur

2023

Front. Robot. AI

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Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot’s kinematic characteristics, particularly the average translational speed.Methods: The simplified dynamic diagram of the robot’s oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear’s method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software.Results and discussion: The obtained results show the time dependencies of the robot body’s basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions.

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Magnetically-Actuated Micro-Scale Bristle-Bots

Cited by 9 publications

References 31 publications

Miniature Ultralight Deformable Squama Mechanics and Skin Based on Piezoelectric Actuation

Miniature Ultralight Deformable Squama Mechanics and Skin Based on Piezoelectric Actuation

Self-Stabilizing Self-Assembly

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

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