Fundamental principles and issues of high-speed piezoactuated three-legged motion for miniature robots designed for nanometer-scale operations
Fundamental principles and issues of high-speed piezoactuated three-legged motion for miniature robots designed for nanometer-scale operations
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DOI：
10.1177/0278364905055594
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发表时间：
2005-07-01
影响因子：
9.2
通讯作者：
Martel, S
中科院分区：
文献类型：
--
作者：
Martel, S
开发基于一系列科学仪器（专为纳米级快速操作而设计的微型无线机器人）的高通量平台的一个重要方面是嵌入式运动系统的概念，该系统能够在两个连续位置之间快速位移，同时足够精确地将机器人定位在嵌入式仪器的范围内（通常在零点几纳米内）。本文不仅描述了运动方法和机制的基本原理，还描述了实施此类系统时必须考虑的主要约束、挑战和环境条件。初步实验结果表明了该方法的有效性。
One of the important aspects in the development of high-throughput platforms based on a fleet of scientific instruments in the form of miniature wireless robots designed for fast operations at the nanometer-scale, is the conception of an embedded locomotion system capable of fast displacements between two successive locations while being accurate enough to position the robot within the range of the embedded instrument, typically within a few tenths of nanometers. This paper describes not only the fundamental principles of the locomotion method and mechanisms but the main constraints, challenges, and environmental conditions that must be taken into account in the implementation of such a system. Preliminary experimental results show the validity of this approach.