Microrobotics: Methods and Applications

Yves Bellouard Eindhoven University of Technology
Microrobotics: Methods and Applications
Publication Type List Price
Reference $129.95 / £78.99
Publication Date Imprint
October 2009 CRC
Disciplines ISBN
Electronics Engineering 9781420061956
Number of Pages Buy with discount
464 buy
   

Description

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 companion website.

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.

 

Table of Contents

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

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 & FUTURE DIRECTIONS FOR 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

by Editor1 last modified October 04, 2009 - 17:11
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