Concept Validation for a Novel Stick-and-Slip, Light-Powered, Mobile Micro-Crawler

摘要

In this paper we present recent research results aimed at creating mobile micro-robotic agents powered by light energy. The SolarPede is a second-generation, cm-scale micro-crawler equipped with a legged locomotion system and an electronic backpack, targeting micro-factory applications. This novel micro-robot is an advancement in functionality and design over its decade-old predecessor, the ARRIpede, and includes technological advancements such as Bluetooth wireless communication, light power, and omnidirectional mobility on a flat substrate. The robot body consists of Micro Electro Mechanical System (MEMS) electrothermal actuators and micro-assembled vertical legs. Attached to the body is an electronic backpack realized using a custom-made Printed Circuit Board and interfaced to the body via a wire-bonded package. A simulation model for the SolarPede was created to predict system behavior and dynamic operation, and to serve as a design tool. Simulation results of leg motion were compared with experimental displacement measurements and the model was extended to the operation of the micro-robot in “belly-up” conveyor mode. Finally, optical microscopy was employed to experimentally measure the omni-directional motion of the SolarPede, and the robot power balance under a Solar simulator lamp was experimentally confirmed, thus validating the concept. Results suggest that continuous velocities of 15 μm/s can be achieved by the micro-robot in untethered operation.