Assembly and Disassembly of Magnetic Mobile Micro-Robots towards Deterministic 2-D Reconfigurable Micro-Systems
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Date
2011Type
- Conference Paper
ETH Bibliography
no
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Abstract
A primary challenge in the field of reconfigurable robotics is scaling down the size of individual robotic modules. We present a novel set of permanent magnet modules that are under 1 mm in all dimensions, called Mag-μMods, for use in a reconfigurable micro-system. The modules are actuated by oscillating external magnetic fields of several mT in strength, and are capable of locomoting on a 2-D surface. Multiple modules are controlled using an electrostatic anchoring surface, which selectively prevents specific modules from being driven by the external field, while allowing others to move freely. We model the processes of both assembling and disassembling two modules by analyzing the forces the modules experience, and experimentally verify the accuracy of the models. For disassembly, we employ electrostatic anchoring and externally applied magnetic torques to successfully separate the modules. Show more
Publication status
publishedExternal links
Journal / series
IEEE International Conference on Robotics and AutomationPages / Article No.
Publisher
IEEEEvent
Organisational unit
09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)
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ETH Bibliography
no
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