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- Actuators (1)
- Coiled shape memory alloy (1)
- Integrated circuit design (1)
- Large displacement compliant mechanisms (1)
- Legged millirobot (1)
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- MEDIC (1)
- Mechatronic devices (1)
- Microassembly (1)
- Millirobot enabled diagnostic of integrated circuits (1)
- Obstacle traversal mechanics (1)
- Piecewise linear interpolation compensation (1)
- Precision positioning systems (1)
- Pressure molding fabrication process (1)
- Rapidly prototype 2-axis positioning stage (1)
- Robot (1)
- Smart composite microstructures approach (1)
- Subcentimeter robotic (1)
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Aaron M. Hoover
This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (MillirobotEnabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …