robotics.pdf

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

M icrorobotics, Microtelemanipulation

and Microassembly

Introduction to Microsystems Technology

Lecture N-1

Quan Zhou

Outline

Microrobotics

Microtelemanipulation

Microassembly

Table of Contents, Slide 2

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Definitions

Robot

Ö Word robot was coined by the Czech playwright Karel Capek in his play

Rossum's Universal Robots in 1920’s, robota = forced labor, worker

Ö “A reprogrammable, multifunctional manipulator designed to move

material, parts, tools, or specialized devices through various programmed

motions for the performance of a variety of tasks”, Robot Institute of

America , 1979

Industrial robots vs. service robots

Table of Contents, Slide 3

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Definitions ...

Microrobot

Ö reprogrammable behavior (as in industrial robots) or

Ö adaptivity to unpredicted circumstances (as in advanced robots for

unstructured environments, service robots) or

Ö remote controllability (as in teleoperated robots)

Basically the only difference between a macro and microrobot is the

scale of the application domain

Microbots extend human capabilities to the microscale

Table of Contents, Slide 4

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Classification

With regard to size/capabilities

Ö “miniature robots”

Ö “microrobots”

Ö “nanorobots”

Functional classification

Ö fixed / mobile

Ö energy source on-board / not on-board

Ö wires / wireless

Task-specific classification

Table of Contents, Slide 5

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Classification with regard to size

Miniature robots

Ö size: few cubic centimeters

Ö workspace and forces

comparable to those of fine

human manipulations

Ö fabrication by assembling

conventional miniature

components and micromachines

Ö majority of today’s

microrobots belong to this

class

Table of Contents, Slide 6

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Table of Contents, Slide 7

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Classification with regard to size ...

Microrobots

Ö size: few hundred cubic micrometers

Ö fabricated by means of micromachining technologies (such as bulk or

surface micromachining or LIGA technology)

Ö consists of microactuators, sensors and signal processing circuits

Ö scaling effect should be taken into account when designing actuators, for

example

Ö applications: cell manipulation, assembly

Table of Contents, Slide 8

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Classification with regard to size ...

Nanorobots

Ö size: few hundred nanometers to a

couple of micrometers, i.e. same as

the scale of biological cells

Ö conventional mechanical principles

(for driving and manipulation) are not

applicable here but electrochemical

means could be used (mimicking

biological organisms)

Ö solid-state technology is not currently

suitable for nano-scale fabrication but

polymer chemistry techniques can

provide a solution

Table of Contents, Slide 9

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

Functional classification

CU - control unit

Classification criteria

Ö mobility

Ö autonomy

Ö control

(wires)

PS - power supply

AP - actuators for

positioning

AO - actuators for

operation

Table of Contents, Slide 10

HELSINKI UNIVERSITY OF TECHNOLOGY

Control Engineering Laboratory

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