Jitterbot: A Mobile Millirobot Using Vibration Actuation

摘要

Microrobotics is a rapidly growing field with promising applications in microsurgery and microassembly. A challenge in these systems is providing power and control signals to the robot. This project explores crawling robots that are powered and controlled through a global mechanical vibration field. Structures within the robot will cause it to respond to particular frequencies with different motion modalities. A prototype, dubbed the “jitterbot”, was cut out of a 0.75 mm sheet of steel using electric discharge machining (EDM), and has a total footprint of approximately 30 mm × 20 mm in the xy-plane. The “robot” has a tripod body (8 mm × 16 mm) with three small legs, and two suspended masses that are designed for specific resonance frequencies. The robot was tested on a plate that was vibrated vertically at frequencies ranging from 20 to 2,000 Hz. For particular resonant frequencies, the robot moves forward and turns in either a clockwise or counterclockwise direction. Finite element modeling confirms that the mechanism for motion is a rocking mode that is influenced by two arms that are suspended mass springs tuned to different frequencies. This lays the groundwork for further miniaturization.