Paper Info
Title
Parallel microrobot actuated by capillary effects.
Abstract
This paper presents a new actuation mean for a parallel microrobot based on capillary effect, combining surface tension and pressure effects. The device presented is a compliant moving table having 6 degrees of freedom (dof) among which three are actuated: z axis translation having a stroke of a few hundreds of microns, and theta(x) and theta(y) tilt angles up to about 15 degrees. The structure is immersed in a liquid and the actuation principle is based on fluidic parameters (pressure and volume). A model to calculate the stiffness of the system is presented and validated by experimental measurements. Some issues inherent to this type of actuation are also addressed. The presented device is an illustration of a promising solution for microrobotic actuation using capillary effects in a liquid media.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5980290
ICRA
Keywords
Field
DocType
microrobots,surface tension,capillary effect,fluidic parameter,microrobotic actuation,parallel microrobot,pressure effect,stiffness,surface tension
Fluidics,Surface tension,Micrometre,Stiffness,Control theory,Capillary action,Degrees of freedom (mechanics),Control engineering,Engineering,Cartesian coordinate system
Conference
ISSN
Citations 
PageRank 
1050-4729
0
0.34
References 
Authors
4
3
Name
Order
Citations
PageRank
Cyrille Lenders162.61
Michaël Gauthier211526.53
Pierre Lambert3116.66