Turning-rate Selective Control : A New Method for Independent Control of Stress-engineered MEMS Microrobots
Turning-rate Selective Control : A New Method for Independent Control of Stress-engineered MEMS Microrobots
复制标题
转速选择性控制：应力工程 MEMS 微型机器人独立控制的新方法
DOI：
10.15607/rss.2012.viii.041
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
B. Donald
中科院分区：
文献类型：
--
作者：
I. Paprotny;C. Levey;Paul Wright;B. Donald
我们提出了一种新的方法，通过一个单一的，全球性的，控制信号独立控制多个应力工程MEMS微型机器人（MicroStressBots）。这种新技术被称为转向率选择控制（TSC），它采用了不同微型机器人之间转向率的设计变化来区分它们的运动。尽管所有机器人同时移动，并且除了呈现不同的转弯速率之外是相同的，但TSC可以在平面配置空间内单独且独立地定位机器人的旋转中心。这使得各个机器人能够独立地移动到R中的任意位置（不包括旋转的配置）的距离等于转弯半径（大约是微型机器人宽度的一半）的范围内。我们介绍了TSC背后的理论，并通过使用制造的microrobots，显示实验结果，证实了TSC的可行性，通过一个单一的，全球的，控制信号控制多个MicroStressBots。最后，我们讨论了TSC如何扩展最大数量的独立可控MicroStressBots超越以前公布的方法。
We present a novel method for independently controlling multiple stress-engineered MEMS microrobots (MicroStressBots) through a single, global, control signal. Called Turning-rate Selective Control (TSC), this new technique employs designed variations in turning rates between individual microrobots to differentiate their motion. Despite all robots moving simultaneously and being identical except for exhibiting different turning rates, TSC can individually and independently position the robots’ centers of rotation within a planar configuration space. This allows the individual robots to be independently maneuverable to within a distance equal to the turning radius (approximately half of a microrobot width) away from an arbitrary location (configuration excluding rotation) in R. We introduce the theory behind TSC and, by using fabricated microrobots, show experimental results that confirm the feasibility of TSC for controlling multiple MicroStressBots through a single, global, control signal. We conclude by discussing how TSC can extend the maximum number of independently controllable MicroStressBots beyond previously published approaches.