Toward miniaturization of magnetically-driven/levitated robots for micromanipulation: downscaling from macro- to micro-levitation

用于微操作的磁驱动/悬浮机器人的小型化：从宏观悬浮到微悬浮的缩小

• 批准号: 312464-2010
• 负责人: Khamesee, MirBehrad
• 金额: $ 2.04万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=548750
• 关键词: Toward; miniaturization; magnetically; driven; levitated

The proposed research is a continuation of the prior research on the development of magnetically-driven robots. Magnetic levitation is a promising technology which can be applied for micromanipulation in strictly controlled environments, since it does not use long-reached and jointed parts. At the MagLev Microrobotics Laboratory of the University of Waterloo, a novel apparatus has been built for the three-dimensional magnetically-levitated movement of centimetre-size robots (2.5 cm^3). Levitated robots equipped with grippers have been developed that can be used for pick-and-place tasks and manipulation of small objects. These robots use a Shape Memory Alloy (SMA) actuator as a gripper. Thus, the robots have to use an onboard power supply for the SMA actuation.

这项研究是对先前关于磁力驱动机器人发展研究的延续。磁悬浮是一种很有前途的微操作技术，因为它不需要使用长距离的和连接的部件，可以在严格控制的环境中进行微操作。在滑铁卢大学的磁悬浮微型机器人实验室，建造了一种新的装置，用于厘米大小(2.5厘米^3)的机器人的三维磁悬浮运动。装备了抓手的悬浮机器人已经被开发出来，可以用于拾取和放置任务以及操纵小物体。这些机器人使用形状记忆合金(SMA)执行器作为夹持器。因此，机器人必须使用车载电源来驱动SMA。