Mobile Microrobotics
by Sitti
ISBN: 9780262364058 | Copyright 2017
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| Contents (pg. vii) | |
| List of Figures (pg. xiii) | |
| List of Tables (pg. xxvii) | |
| Acknowledgments (pg. xxix) | |
| 1 Introduction (pg. 1) | |
| 1.1 Definition of Different Size Scale Miniature Mobile Robots (pg. 1) | |
| 1.2 Brief History of Microrobotics (pg. 6) | |
| 1.3 Outline of the Book (pg. 8) | |
| 2 Scaling Laws for Microrobots (pg. 13) | |
| 2.1 Dynamic Similarity and Non-Dimensional Numbers (pg. 14) | |
| 2.2 Scaling of Surface Area and Volume and Its Implications (pg. 17) | |
| 2.3 Scaling of Mechanical, Electrical, Magnetic, and Fluidic Systems (pg. 18) | |
| 2.4 Example Scaled-up Study of Small-Scale Locomotion Systems (pg. 21) | |
| 2.5 Homework (pg. 24) | |
| 3 Forces Acting on a Microrobot (pg. 27) | |
| 3.1 Some Definitions (pg. 28) | |
| 3.2 Surface Forces in Air and Vacuum (pg. 31) | |
| 3.2.1 van der Waals forces (pg. 32) | |
| 3.2.2 Capillary forces (surface tension) (pg. 35) | |
| 3.2.3 Electrostatic forces (pg. 39) | |
| 3.2.4 Comparison of general forces on micron scale (pg. 40) | |
| 3.2.5 Specific interaction forces (pg. 40) | |
| 3.2.6 Other geometries (pg. 42) | |
| 3.3 Surface Forces in Liquids (pg. 43) | |
| 3.3.1 van der Waals forces in liquids (pg. 43) | |
| 3.3.2 Double-layer forces (pg. 43) | |
| 3.3.3 Hydration (steric) forces (pg. 44) | |
| 3.3.4 Hydrophobic forces (pg. 44) | |
| 3.3.5 Summary (pg. 45) | |
| 3.4 Adhesion (pg. 45) | |
| 3.5 Elastic Contact Micro/Nanomechanics Models (pg. 46) | |
| 3.5.1 Other contact geometries (pg. 51) | |
| 3.5.2 Viscoelastic effects (pg. 53) | |
| 3.6 Friction andWear (pg. 54) | |
| 3.6.1 Sliding friction (pg. 54) | |
| 3.6.2 Rolling friction (pg. 55) | |
| 3.6.3 Spinning friction (pg. 57) | |
| 3.6.4 Wear (pg. 57) | |
| 3.7 Microfluidics (pg. 58) | |
| 3.7.1 Viscous drag (pg. 59) | |
| 3.7.2 Drag torque (pg. 60) | |
| 3.7.3 Wall effects (pg. 60) | |
| 3.8 Measurement Techniques for Microscale Force Parameters (pg. 61) | |
| 3.9 Thermal Properties (pg. 64) | |
| 3.10 Determinism versus Stochasticity (pg. 65) | |
| 3.11 Homework (pg. 65) | |
| 4 Microrobot Fabrication (pg. 69) | |
| 4.1 Two-Photon Stereo Lithography (pg. 71) | |
| 4.2 Wafer-Level Processes (pg. 75) | |
| 4.3 Pattern Transfer (pg. 76) | |
| 4.4 Surface Functionalization (pg. 79) | |
| 4.5 Precision Microassembly (pg. 80) | |
| 4.6 Self-Assembly (pg. 80) | |
| 4.7 Biocompatibility and Biodegradability (pg. 81) | |
| 4.8 Neutral Buoyancy (pg. 82) | |
| 4.9 Homework (pg. 83) | |
| 5 Sensors for Microrobots (pg. 85) | |
| 5.1 Miniature Cameras (pg. 86) | |
| 5.2 Microscale Sensing Principles (pg. 88) | |
| 5.2.1 Capacitive sensing (pg. 88) | |
| 5.2.2 Piezoresistive sensing (pg. 89) | |
| 5.2.3 Optical sensing (pg. 92) | |
| 5.2.4 Magnetoelastic remote sensing (pg. 93) | |
| 6 On-Board Actuation Methods for Microrobots (pg. 97) | |
| 6.1 Piezoelectric Actuation (pg. 97) | |
| 6.1.1 Unimorph piezo actuators (pg. 101) | |
| 6.1.2 Case study: Flapping wings-based small-scale flying robot actuation (pg. 103) | |
| 6.1.3 Bimorph piezo actuators (pg. 107) | |
| 6.1.4 Piezo film actuators (pg. 108) | |
| 6.1.5 Polymer piezo actuators (pg. 109) | |
| 6.1.6 Piezo fiber composite actuators (pg. 109) | |
| 6.1.7 Impact drive mechanism using piezo actuators (pg. 109) | |
| 6.1.8 Ultrasonic piezo motors (pg. 110) | |
| 6.1.9 Piezoelectric materials as sensors (pg. 110) | |
| 6.2 Shape Memory Materials-Based Actuation (pg. 111) | |
| 6.3 Polymer Actuators (pg. 113) | |
| 6.3.1 Conductive polymer actuators (CPAs) (pg. 114) | |
| 6.3.2 Ionic polymer-metal composite (IPMC) actuators (pg. 114) | |
| 6.3.3 Dielectric elastomer actuators (DEAs) (pg. 115) | |
| 6.4 MEMS Microactuators (pg. 116) | |
| 6.5 Magneto- and Electrorheological Fluid Actuators (pg. 118) | |
| 6.6 Others (pg. 119) | |
| 6.7 Summary (pg. 120) | |
| 6.8 Homework (pg. 120) | |
| 7 Actuation Methods for Self-Propelled Microrobots (pg. 123) | |
| 7.1 Self-Generated Gradients or Fields-Based Microactuation (pg. 123) | |
| 7.1.1 Self-electrophoretic propulsion (pg. 123) | |
| 7.1.2 Self-diffusiophoretic propulsion (pg. 126) | |
| 7.1.3 Self-generated microbubbles-based propulsion (pg. 128) | |
| 7.1.4 Self-acoustophoretic propulsion (pg. 129) | |
| 7.1.5 Self-thermophoretic propulsion (pg. 130) | |
| 7.1.6 Self-generated Marangoni flows-based propulsion (pg. 130) | |
| 7.1.7 Others (pg. 132) | |
| 7.2 Bio-Hybrid Cell-Based Microactuation (pg. 132) | |
| 7.2.1 Biological cells as actuators (pg. 133) | |
| 7.2.2 Integration of cells with artificial components (pg. 137) | |
| 7.2.3 Control methods (pg. 138) | |
| 7.2.4 Case study: Bacteria-driven microswimmers (pg. 139) | |
| 7.3 Homework (pg. 148) | |
| 8 Remote Microrobot Actuation (pg. 151) | |
| 8.1 Magnetic Actuation (pg. 151) | |
| 8.1.1 Magnetic field safety (pg. 154) | |
| 8.1.2 Magnetic field creation (pg. 155) | |
| 8.1.3 Special coil configurations (pg. 157) | |
| 8.1.4 Non-uniform field setups (pg. 157) | |
| 8.1.5 Driving electronics (pg. 158) | |
| 8.1.6 Fields applied by permanent magnets (pg. 159) | |
| 8.1.7 Magnetic actuation by a magnetic resonance imaging (MRI) system (pg. 160) | |
| 8.1.8 6-DOF magnetic actuation (pg. 161) | |
| 8.2 Electrostatic Actuation (pg. 162) | |
| 8.3 Optical Actuation (pg. 164) | |
| 8.3.1 Opto-thermomechanical microactuation (pg. 164) | |
| 8.3.2 Opto-thermocapillary microactuation (pg. 164) | |
| 8.4 Electrocapillary Actuation (pg. 165) | |
| 8.5 Ultrasonic Actuation (pg. 166) | |
| 8.6 Homework (pg. 167) | |
| 9 Microrobot Powering (pg. 169) | |
| 9.1 Required Power for Locomotion (pg. 170) | |
| 9.2 On-Board Energy Storage (pg. 171) | |
| 9.2.1 Microbatteries (pg. 171) | |
| 9.2.2 Microscale fuel cells (pg. 172) | |
| 9.2.3 Supercapacitors (pg. 174) | |
| 9.2.4 Nuclear (radioactive) micropower sources (pg. 174) | |
| 9.2.5 Elastic strain energy (pg. 175) | |
| 9.3 Wireless (Remote) Power Delivery (pg. 175) | |
| 9.3.1 Wireless power transfer by radio frequency (RF) fields and microwaves (pg. 175) | |
| 9.3.2 Optical power beaming (pg. 176) | |
| 9.4 Energy Harvesting (pg. 176) | |
| 9.4.1 Solar cells harvesting incident light (pg. 177) | |
| 9.4.2 Fuel or ATP in the robot operation medium (pg. 177) | |
| 9.4.3 Microbatteries powered by an acidic medium (pg. 177) | |
| 9.4.4 Mechanical vibration harvesting (pg. 178) | |
| 9.4.5 Temperature gradient harvesting (pg. 179) | |
| 9.4.6 Others (pg. 179) | |
| 9.5 Homework (pg. 180) | |
| 10 Microrobot Locomotion (pg. 181) | |
| 10.1 Solid Surface Locomotion (pg. 182) | |
| 10.1.1 Pulling- or pushing-based surface locomotion (pg. 182) | |
| 10.1.2 Bio-inspired two-anchor crawling (pg. 185) | |
| 10.1.3 Stick-slip-based surface crawling (pg. 185) | |
| 10.1.4 Rolling (pg. 185) | |
| 10.1.5 Microrobot surface locomotion examples (pg. 186) | |
| 10.2 Swimming Locomotion in 3D (pg. 195) | |
| 10.2.1 Pulling-based swimming (pg. 196) | |
| 10.2.2 Flagellated or undulation-based bio-inspired swimming (pg. 197) | |
| 10.2.3 Chemical propulsion-based swimming (pg. 198) | |
| 10.2.4 Electrochemical and electroosmotic propulsion-based swimming (pg. 199) | |
| 10.3 Water Surface Locomotion (pg. 199) | |
| 10.3.1 Statics: Staying on fluid-air interface (pg. 200) | |
| 10.3.2 Dynamic locomotion on fluid-air interface (pg. 202) | |
| 10.4 Flight (pg. 204) | |
| 10.5 Homework (pg. 206) | |
| 11 Microrobot Localization and Control (pg. 209) | |
| 11.1 Microrobot Localization (pg. 209) | |
| 11.1.1 Optical tracking (pg. 209) | |
| 11.1.2 Magnetic tracking (pg. 209) | |
| 11.1.3 X-ray tracking (pg. 210) | |
| 11.1.4 Ultrasound tracking (pg. 211) | |
| 11.2 Control, Vision, Planning, and Learning (pg. 211) | |
| 11.3 Multi-Robot Control (pg. 214) | |
| 11.3.1 Addressing through localized trapping (pg. 214) | |
| 11.3.2 Addressing through heterogeneous robot designs (pg. 215) | |
| 11.3.3 Addressing through selective magnetic disabling (pg. 218) | |
| 11.4 Homework (pg. 222) | |
| 12 Microrobot Applications (pg. 225) | |
| 12.1 Micropart Manipulation (pg. 225) | |
| 12.1.1 Contact-based mechanical pushing manipulation (pg. 225) | |
| 12.1.2 Capillary forces-based contact manipulation (pg. 226) | |
| 12.1.3 Non-contact fluidic manipulation (pg. 227) | |
| 12.1.4 Autonomous manipulation (pg. 232) | |
| 12.1.5 Bio-object manipulation (pg. 232) | |
| 12.1.6 Team manipulation (pg. 234) | |
| 12.1.7 Microfactories (pg. 234) | |
| 12.2 Health Care (pg. 235) | |
| 12.3 Environmental Remediation (pg. 236) | |
| 12.4 Reconfigurable Microrobots (pg. 236) | |
| 12.5 Scientific Tools (pg. 240) | |
| 13 Summary and Open Challenges (pg. 241) | |
| 13.1 Status Summary (pg. 241) | |
| 13.2 What Next? (pg. 241) | |
| Bibliography (pg. 245) | |
| Index (pg. 269) | |
Metin Sitti
Metin Sitti is Director at the Max Planck Institute for Intelligent Systems, Stuttgart, and Professor of Mechanical Engineering at Carnegie Mellon University.
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