Assembly and Disassembly of Magnetic Mobile Micro-Robots towards 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 900 μm × 900 μm × 270 μm in size, called Mag-μMods, for use in a reconfigurable micro-system. The module is actuated by oscillating external magnetic fields less than 5 mT in strength, and is capable of locomoting on a 2-D surface. Multiple modules can be controlled by using an electrostatic anchoring surface, which can selectively prevent specific modules from being driven by the external field while allowing others to move freely. We address the challenges of both assembling and disassembling two modules. Assembly is performed by bringing two modules sufficiently close that their magnetic attraction causes them to combine. Disassembly is performed by electrostatically anchoring one module to the surface, and applying magnetic forces or torques from external sources to separate the unanchored module. Show more
Publication status
publishedExternal links
Book title
Robotics ResearchJournal / series
Springer Tracts in Advanced RoboticsVolume
Pages / Article No.
Publisher
SpringerEvent
Organisational unit
09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)
Related publications and datasets
Is part of: http://hdl.handle.net/20.500.11850/657728
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ETH Bibliography
no
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