Microrobotics: Methods and Applications
Yves Bellouard
Eindhoven University of Technology
DescriptionFrom 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 handson appreciation of the content and ancillary materials are available on a companion website. Focusing on designoriented 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 ContentsINTRODUCTIONWhat 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 ThermalBased Actuators Shape Memory Alloys Piezoelectric Actuators Actuators: Other Principles References Further Readings Exercises SENSORS Sensors in Microrobotics Sensing Technologies for Displacements Electromagnetic Sensors OpticalBased 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 

