SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler
SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler
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DOI：
10.1007/s12213-020-00131-6
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发表时间：
2020-06
影响因子：
2.3
通讯作者：
Ruoshi Zhang;Jordan F. Klotz;Danming Wei;Zhong Yang;A. Sherehiy;M. Saadatzi;D. Popa
中科院分区：
文献类型：
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作者：
Ruoshi Zhang;Jordan F. Klotz;Danming Wei;Zhong Yang;A. Sherehiy;M. Saadatzi;D. Popa
在本文中，我们提出了最近的研究成果，旨在创造移动的microrobotic代理人提供动力的光能。SolarPede是针对微型工厂应用的第二代厘米级微型爬行器。微型机器人配备了一个腿运动系统和一个电子背包。这种新型的微型机器人在功能和设计上比其十年前的ARRIPede有所进步，包括无线通信、光功率和平面操作表面上的全向移动性等技术进步。机器人“底盘”由微机电系统（MEMS）微致动器和微组装垂直腿。附加到“底盘”是一个电子背包实现使用定制印刷电路板和接口的硅体通过引线键合。为SolarPede创建了仿真模型，以预测系统行为和动态操作，并作为设计工具。最后，SolarPede的全方位运动在“腹部向上”配置中得到了实验证实，并由太阳能模拟器提供动力。在光学显微镜下跟踪硅有效载荷，测量并验证了该微机器人在无系绳运行时，在相当于8个太阳的光辐照度下，可以实现40 μm/s的运动速度。
In this paper, we present recent research results aimed at creating mobile microrobotic agents powered by light energy. The SolarPede is a second-generation, cm-scale micro-crawler targeting microfactory applications. The microrobot is equipped with a legged locomotion system and an electronic backpack. This novel microrobot is an advancement in functionality and design over its decade-old predecessor, the ARRIPede, and includes technological advancements such as wireless communication, light power, and omnidirectional mobility on a flat operating surface. The robot “chassis” consists of Micro Electromechanical System (MEMS) electrothermal actuators and micro-assembled vertical legs. Attached to the “chassis” is an electronic backpack realized using custom Printed Circuit Boards and interfaced to the Silicon body by wire-bonding. A simulation model for the SolarPede was created to predict system behavior and dynamic operation, and to serve as a design tool. Finally, the omni-directional locomotion of the SolarPede was experimentally confirmed in a “belly-up” configuration and powered by a solar simulator. A Silicon payload was tracked under optical microscope to measure and verify the motion velocity of 40 μm/s can be achieved by the microrobot in untethered operation with light irradiance equivalent to 8 suns.