Microrobotics: Methods and Applications

From conception to realization, Microrobotics: Methods and Applications covers all aspects of miniaturized systems that physically interact and manipulate objects at the microscale. It provides a solid understanding of this multidisciplinary field, which combines areas of materials science, mechanical engineering, and applied physics.

Requiring no formal prerequisites, the book begins by introducing basic results from the strength of materials, mechanics, and applied physics. After forming this foundation, the author describes various flexure systems, actuators, and sensors as well as fabrication techniques relevant for microrobots. He then explores applications of microrobotics in medicine, materials science, and other areas. Numerous exercises encourage hands-on appreciation of the content and ancillary materials are available on a CD-ROM.

Focusing on design-oriented multidisciplinary activities, this text describes how to implement various methods for solving microrobotics problems and designing mechanical systems at the microscale. With a broad overview of the current state of the art from research and industry perspectives, the book envisions the future of microrobotics and explores its potential contributions to technology.

Yves Bellouard is an assistant professor of micro/nanoscale engineering in the mechanical engineering department at the Eindhoven University of Technology in the Netherlands.

Introduction

What Is Microrobotics?

The Microworld

Microrobots for What?

What Is the Science and Technology behind Microrobotics?

PREREQUISITES

Fundamental Concepts of Linear Elasticity

Mechanics of Material in the Context of Microrobotics

Concept of Stress

Concept of Deformation: Strain

Elasticity: Hooke’s Law

Properties of Plane Area: Second Moment of Inertia

Element of Beam Theory

Torsion

Yield Criteria

References

Further Readings

Exercises

Fundamental Concepts of Kinematics

Problem Definition

Basics Tools for Kinematic Analysis

Kinematics

Kinetics

Kinetics and Dynamics

Linear and Angular Momentum

Equations of Motion

Lagrange Formalism

Illustrative Example: The Double Pendulum

Analysis of Multibody Systems

Forward Kinematics (Geometrical Model)

Direct Kinematics: Jacobian of a Robot

Inverse Kinematics

References

Further Readings

Exercises

CORE TECHNOLOGY

Applied Physics for Microrobotics

Scaling Effects

An Introduction to the Physics of Adhesion

Material Structure and Properties: Crystal and Symmetry

References

Exercises

Flexures

Introduction

Historical Perspective

Mathematical Formalism: Generalized Stiffness Matrix

Elemental Flexures (Building Blocks): Design Methodology

Elemental Flexures: Cantilever Beam

Notch Hinge

Cross Pivot

System Based on Flexures: Design Methodology

Flexure Systems

References

Further Readings

Exercises

Actuators

Introduction

Design Principles of Actuators

Electrostatic Actuators

Thermal-Based Actuators

Shape Memory Alloys

Piezoelectric Actuators

Actuators: Other Principles

References

Further Readings

Exercises

Sensors

Sensors in Microrobotics

Sensing Technologies for Displacements

Electromagnetic Sensors

Optical-Based Displacement Sensors

Motion Tracking with Microscopes

References

IMPLEMENTATION, APPLICATIONS, AND FUTURE PROSPECTS

Implementation: Integration and Fabrication Aspects

Introduction

An Overview of Microfabrication Principles

Design Selection Criteria

References

State of the Art and Future Directions in Microrobotics

Introduction

Applications in Medicine

Microrobotics/Nanorobotics for Materials Science Study

Tools for Microassembly: Microgripper Technologies Overview

Autonomous or Semiautonomous Microrobots

References

Appendix A: Illustration of Student Projects

Appendix B: Types of Joints in Mechanism

Appendix C: Elementary Flexure Joints: Stiffness Matrix

Appendix D: Material Properties Tables

Index