3-DOF untethered microrobot powered by a single laser beam based on differential thermal dynamics
3-DOF untethered microrobot powered by a single laser beam based on differential thermal dynamics
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基于微分热动力学的单激光束驱动的 3 自由度无绳微型机器人
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
D. Popa
中科院分区：
文献类型：
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作者：
Muhammed R. Pac;D. Popa
本文提出了一种使用激光作为无束缚微型机器人的能量来源和控制手段的方法。而不是使用多个激光点热控制多个机器人致动器的运动，本文提出的形状的功率，频率和占空比的单个激光束聚焦到整个身体的机器人。它示出通过模拟，激光参数的适当选择沿着与相应的机械设计可以产生适当的“粘滑”运动，导致3自由度（平面）操作的微机器人与非完整约束。基于模拟结果，我们预计，微机器人的厚度为几个微米和几百微米的宽度可以实现超过几毫米/秒的速度，与更传统的静电和电磁驱动的微机器人。初步的人字形驱动器的实验证实，脉冲激光可以有效地驱动粘滑微型机器人。
The paper proposes a method of using laser as both a source of energy and means of control for untethered microrobots. Instead of using multiple laser spots to thermally control the motion of multiple robot actuators, the paper proposes to shape the power, frequency, and duty cycle of a single laser beam focused onto the whole body of the robot. It is shown through simulations that an appropriate selection of laser parameters along with a corresponding mechanical design can generate appropriate “stick and slip” motions resulting in 3-DOF (planar) operation for the microrobot with nonholonomic constraints. Based on the simulation results, we anticipate that the microrobot with a thickness of a few micrometers and a width of several hundred micrometers can achieve speeds in excess of a few mm/second, comparable with more conventional electrostatically and electromagnetically actuated microrobots. Initial experiments on chevron actuators confirm that pulsed laser can effectively drive stick-slip microrobots.