Mobile Microrobots Research Articles

3650 ヒトの大腸モデル内走行を目指したマイクロロボットの提案(G15-5 ロボティクス・メカトロニクス(5) ロボットシステム,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

3650 ヒトの大腸モデル内走行を目指したマイクロロボットの提案(G15-5 ロボティクス・メカトロニクス(5) ロボットシステム,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

H25 屈曲機構を持ったマイクロロボットの試作(H2 ロボット・制御(移動機構))

H25 屈曲機構を持ったマイクロロボットの試作(H2 ロボット・制御(移動機構))

2P2-H10 分岐管を走行できるヘビ型ロボットの提案(バイオミメティクス・ロボティクス)

We have many small diameter pipes that are cooling pipes for atomic power stations, boiler pipes, and gas or water pipe lines. They must be periodically inspected in order to protect the accident previously. Diameters and T-junctions of these pipes are different at the place where pipes change from the main to the branch. The inspection microrobot for these pipes must move different diameter and T-junction. The fabricated mobile microrobot was confirmed to move in different diameter pipes and T-junction whose diameters are between 44 mm and 90 mm. Its speed was 24 mm/s.

Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employed to optimize the dual-wheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.

A nanomanipulation platform for semi automated manipulation of nano-sized objects using mobile microrobots inside a Scanning Electron Microscope

In the scope of the NanoHand project, a compact and versatile nanomanipulation platform is being developed. This platform is aimed to manipulate and characterize nano-sized objects using the vision feedback from a Scanning Electron Microscope (SEM). The platform is composed of mobile microrobots with four degrees of freedom (X,Y,Z,θz) located on a cartesian XY stage. Thanks to its compactness, the complete platform can be loaded through the exchange bay of a SEM. Final application is the manipulation and characterization of CNTs (Carbon Nanotubes) and nanowires.

Genetic algorithms-based path-planning system for the motion of a group of mobile micro-robots

A genetic algorithm for planning optimal paths for a group of micro-robots in an environment with obstacles is considered. This algorithm allows one to solve the posed problem according to the criteria that are most frequently given, such as the minimum length of the path, minimum motion time, etc. The high performance of the proposed algorithm allows one to find a solution in real time, only using the resources of onboard computers of micro-robots. The simulation results and the optimal values of the parameters for which the algorithm is balanced in the best way are presented.

Microrobot System for Automatic Nanohandling Inside a Scanning Electron Microscope

In this paper, current research work on the development of an automated nano handling station in a scanning electron microscope (SEM) is presented. An experimental setup is described, in which two mobile microrobots cooperate in the vacuum chamber of an SEM. The robots are positioned by a closed-loop controller with sensor data, which is provided by three charge-coupled device cameras and the SEM. Continuous pose estimation is carried out by processing noisy SEM images in real time. To enable the automation of complex tasks, a client-server control system that can integrate various microrobots and sensors is introduced. Finally, the overall system is evaluated by automatic handling of transmission electron microscope lamellae.

Teleoperated assembly of a micro‐lens system by means of a micro‐manipulation workstation

PurposeThe aim of the research is to perform an accurate micromanipulation task, the assembly of a lens system, implementing safe procedures in a flexible microrobot‐based workstation for micromanipulation.Design/methodology/approachThe approach to the micromanipulation research issue consists in designing and building a micromanipulation station based on mobile microrobots, with 5 degrees of freedom and a size of a few cm3, capable of moving and manipulating by the use of tube‐shaped and multilayered piezo‐actuators. Controlled by visual and force/tactile sensor information, the micro‐robot is able to perform manipulation with a motion resolution down to 10 nm in a telemanipulated or semi‐automated mode, thus freeing human operators from the difficult task of handling minuscule objects directly. Equipped with purposely‐developed grippers, the robot can take over high‐precise grasping, transport, manipulation and positioning of mechanical or biological micro‐objects. A computer system using PC‐compatible hardware components ensures the robot operation in real‐time.FindingsThe robots and the grippers described in this paper are highly interesting tools. Even if each specific application may require specific modifications, the proposed solution is extremely versatile, due to the ability to manipulate with a very large stroke (being the size of the base the robot works on) with a very high motion resolution. These positive aspects do make the robots very suitable also for working in a scanning electron microscope, for wafer inspection in a laboratory, and so on.Research limitations/implicationsFuture work will include modifications to the existing system in order to enhance the flexibility of the workstation: e.g. other robots and other tools with different characteristics will be designed and fabricated. Research efforts will be devoted in particular to further miniaturization of the actuators.Practical implicationsThis workstation can be used as a platform for assembling novel prototypes, and as a test bench for testing new assembly procedures or new products, e.g. the lens assembly procedure described in this work, even if not suitable for mass production, was useful to assess the performance of the two‐lenses assembly system itself, compared to standard systems with just one lens.Originality/valueThe system proves that the development of mobile micro‐robots is a promising approach to realise very small and flexible tools useful for different applications. By means of its intuitive teleoperation mode, the system enables the user to work in the micro‐world; due to the force feedback the user is almost immersed into the micro‐world and gets a sense for the handled object.

An omni-directional mobile millimeter-sized microrobot with 3-mm electromagnetic micromotors for a micro-factory

This paper presents an omni-directional mobile microrobot for micro-assembly in a micro-factory. A novel structure is designed for omni-directional movement with three normal wheels. The millimeter-sized microrobot is actuated by four electromagnetic micromotors whose size is 3.1 mm × 3.1 mm × 1.4 mm. Three of the micromotors are for translation and the other one is for steering. The micromotor rotors are designed as the wheels to reduce the microrobot volume. A piezoelectric micro-gripper is fabricated for grasping micro-parts. The corresponding kinematics matrix is analyzed to prove the omni-directional mobility. A control system composed of two CCD cameras, a host computer and circuit board is designed. The macro camera is for a global view and the micro camera is for local supervision. Unique location methods are proposed for different scenarios. A microstep control approach for the micromotors is presented to satisfy the requirement of high positioning accuracy. The experiment demonstrates the mobility of the microrobot and the validity of the control system.

卓上生産システム用小形移動ロボットの位置計測システム

This paper describes a position measurement system for a mobile microrobot used in a desktop manufacturing system. Three line laser projectors are carried by linear stages, which are placed above the microrobot. The mobile microrobot carries three optical devices which receive laser beams. The position and orientation of the microrobot is determined by the position of the linear stages. The measurement accuracy in 8 mm × 8 mm area was about 5 μm, and that in 50 mm × 50 mm area was about 50 μm.

Real-time object tracking for the robot-based nanohandling in a scanning electron microscope

In this paper, current research work on an automated nanohandling station using mobile microrobots is presented. For the automated positioning of mobile microrobots a closed-loop control system is necessary, usually using data from pose sensors for the degrees of freedom (DOF) of the microrobot are needed. Mobile microrobots with piezo slip-stick actuation mostly do not have internal pose sensors to determine a global pose. This paper focuses on the continuous pose estimation (tracking) of mobile microrobots by external visual sensors. One possibility for fast pose estimation is the application of video cameras in combination with image processing algorithms as global sensors. However, for pose estimation with accuracy in the nanometer range high-resolution sensors are necessary. In consideration of resolution, image acquisition time and depth of focus a scanning electron microscope (SEM) is a powerful sensor for high-resolution pose estimation of a microrobot. On the other hand, the use of a SEM requires high demands on the image processing. High update rates of the pose data for the robot control require a short image acquisition time of the SEM images. As a result, the image noise increases as frame averaging or averaging of the detector signal is time consuming. This paper presents two approaches to tracking a micro-object in a SEM image stream. First, a cross-correlation algorithm is described, which enables pose estimation (x, y, ϕ) in extremely noised images in real-time. Afterwards object tracking with active contours is presented. This approach allows real-time tracking with more than 3 DOF by using shape spaces, instead of defining large model sets as it is necessary for correlation-based pattern matching.

An Omnidirectional Mobile Millimeters Size Micro-Robot with Novel Duel-Wheels

A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotation. Kinematics model is analyzed to prove the omni-directional mobility. Virtual-Winding Approach (VWA) and PWM-Based Vector-Synthesize Approach(PBVSA) current control methods are presented to satisfy a requirement of higher positioning accuracy. Experimental results demonstrate the feasibility of this concept.

Design and fabrication of PZT-actuated tools for micromanipulation

In this paper novel tools for micromanipulation are presented. The devices have been purposely designed for integration in small mobile micro-robots, aimed at performing co-operative precision manipulation and assembly tasks. Concerning the actuation, multilayer piezoceramic components were developed and employed. The selected fabrication techniques for the grippers are shape deposition manufacturing of polymer and electro-discharge machining of stainless steel, and different alternatives have been investigated in order to select the optimal design. Several prototypes have been fabricated and preliminary experimental tests have been performed, both regarding the characterization and the grasping capabilities.

Modeling and Fabrication of a Mobile Inspection Microrobot Driven by a Pneumatic Bellows Actuator for Long Pipes

This paper details the modeling and fabrication of an in-pipe mobile inspection microrobot able to move long distances on small diameter pipes using pneumatic and vacuum pressure switched by an electromagnetic valve for driving the microrobot. We propose that the electromagnetic valve be used near the pneumatic actuator to move the distance. A pneumatic pressure of +300kPa and vacuum pressure of -80kPa are supplied to the electromagnetic valve by two air tubes 140m long. The microrobot with four friction rings at both ends of the actuator moves 20m in 15 minutes on vinyl chloride pipe with an inner diameter of 44mm.

Introduction

This special issue on Micro/Nano Robotic Perception, Control and Manipulation describes several complementary research efforts from Asia, the United States, and Europe. The topic is timely and the work published in this special issue shows how traditional robotics research is contributing to the emerging micro and nano technologies that are already beginning to demonstrate a strong impact on our society. At milli to microscales, three research efforts in inspection and microassembly are presented. From the University of Minnesota, a force controlled microgripper for photonics microassembly applications is presented. Another important aspect of microassembly is the tracking and alignment of microparts using vision feedback. Work by Dr. Yesin at the Swiss Federal Institute of Technology-Zurich (ETHZ) is directed towards using CAD model-based full 3DOF tracking for closed-loop control of automated microassembly. Moving towards submicron and nano scales, work from the University of Oldenburg in Germany in developing a novel platform for nanohandling using mobile microrobots has given rise to interesting concepts in how systems that perform future nanomanipulation tasks may be configured. A paper co-authored by researchers at the University of California-Berkeley and Carnegie Mellon University considers the use of optical tweezers integrated with chemical linkages for manufacturing 2D and 3D structures at micro and nanoscales. A microbial separation system at the University of Nagoya uses a novel touch sensor and a micropipette, and demonstrates the interesting research problems that exist in the rapidly emerging field of BioMicroRobotics. It is clear that micro/nano robotics research efforts, like those presented in this special issue, represent a key component of robotics studies, and illustrate one direction where robotics must head in order to ensure that the field of robotics remains relevant to science, engineering and society as a whole.

Development of mobile versatile nanohandling microrobots: design, driving principles, haptic control

Special micromanipulators are needed to manipulate very small objects. Most micromanipulators are specialized to perform a task they are designed for, but are too inflexible to adapt to other problems. Therefore, flexible newly developed mobile microrobots are presented with precision in the sub-micrometer range while offering a macroscopic workspace. The main parts of each mobile microrobot, the mobile platform, the manipulator and end effectors, are explained in detail, with some experimental data given.The new driving principle of the mobile platform allows high resolution, low energy consumption, which makes an on-board power supply feasible and a maximum velocity of several mm/s.Useful human interfaces are needed for a successful teleoperation. The most important interface next to the vision feedback is a haptic interface. The paper presents a newly developed haptic interface for a micromanipulation station. The mechanical design and the design of the control system of the haptic interface are discussed in details. The control architecture of the micromanipulation station and the integration of the haptic device into the micromanipulation station are presented.

209 空気圧とバネを用いた管内マイクロロボットの研究 : 構成要素からの牽引力の検討(GS-2 ロボティクス)

209 空気圧とバネを用いた管内マイクロロボットの研究 : 構成要素からの牽引力の検討(GS-2 ロボティクス)

Design of an omni-directional mobile microrobot (OMMR-I) for a micro-factory with 2 mm electromagnetic micromotors

In this paper, the design and control of an omni-directional mobile microrobot are described for micro-assembling in a micro-factory. A unique locomotion mechanism composed of three special castors units is proposed. The castor consists of two coaxial conventional wheels, connected to the chassis and connected with each other by a set micro-gears. The microrobot is approximately 8 mm in length, 6 mm in width and 6 mm in height. Its kinematics and characteristics are analyzed. Experimental results from a prototype of a microrobot are presented, which demonstrates the feasibility of building an omni-directional microrobot with micromotor and special castors.

10405 空気圧とバネを用いた管内マイクロロボットの走行特性(メカトロニクス(2))

This paper describes a moving characteristics of in-pipe mobile microrobot driven by pneumatic pressure and elastic force of a spring. This robot consists of a bellows actuator and friction rings of robot's foot. The bellows actuator is structured by rubber bellows and spring which is inserted in the bellows. The pneumatic pressure is used to stretch and the spring is used to shrink an actuator of the microrobot. The friction ring converts the stretch motion and shrink motion into the advancement drive. We confirmed to move in 26mm inner diameter pipe and characteristics of relationship between moving speed and distance of air feeding tube.

Transporting cells with mobile microrobots

Current research activities on the development of a system for transport and manipulation of biological cells with microrobots are described. If single cells in liquid are to be placed on a grid or sorted by cell type, having a system that can automatically lift, transport and release cells can significantly speed up such a tedious task. Therefore, a system is being developed that can automatically sort different cells by transporting them to different repositories. A method to recognise different types of cells is also being developed. The system consists of several components; a motorised inverted microscope, several different microrobots and a software architecture to control the whole cell manipulation workstation and to provide a user interface.