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Dimensional Analysis of Dynamic MEMS Micro-Robotic Walking Subject to Orthogonal Actuation and Small-Scale Forces

[+] Author Affiliations
Carlos S. Casarez

University of Maryland, College Park, MD

Jeong Hoon Ryou, Kenn R. Oldham

University of Michigan, Ann Arbor, MI

Paper No. DETC2013-13473, pp. V001T09A022; 10 pages
doi:10.1115/DETC2013-13473
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5584-3
  • Copyright © 2013 by ASME

abstract

This research evaluates simulated walking micro-robots based on orthogonal lateral and vertical actuators, a common restriction on micro-electromechanical system (MEMS) actuation, and subject to small damping effects and certain small-scale external forces operating on robot feet. Dimensional analysis is used to identify scalable trends in a numerical simulation of a simple walking dynamics model in which lateral and vertical motion are treated as dynamically-uncoupled, the limiting case for orthogonal MEMS actuators. The results of this analysis are that the system damping significantly affects walking speed, while small-scale foot-ground interaction forces other than adhesion have significant effects only over large order-of-magnitude variation in robot size. Results are intended to serve as a design tool for walking micro-robots.

Copyright © 2013 by ASME

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