Microrobotics using composite materials: The micromechanical flying insect thorax

被引：52

作者：

Wood, RJ ^{[1
]}

Avadhanula, S ^{[1
]}

Menon, M ^{[1
]}

Fearing, RS ^{[1
]}

机构：

[1] Univ Calif Berkeley, Dept EECS, Berkeley, CA 94720 USA

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/ROBOT.2003.1241863

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The use of high performance composite materials provides a substantial performance improvement for microrobotics. Such materials have great benefits over common MEMs materials such as better fracture toughness and fatigue properties than semiconductors, and higher stiffness to weight ratios than most metals. Composite structures yield remarkable improvements in microrobotic links and joints, as well as greater performance actuators while allowing complicated microrobotic mechanisms to be easily rapid prototyped. The use of such materials in the construction of the 4DOF, 26 joint Micromechanical Flying Insect has reduced the thorax inertia by a factor of 3 and given a 20% increase in resonant frequency over previous designs while cutting construction time from weeks to days.

引用

页码：1842 / 1849

页数：8

共 50 条

[1] Model identification and attitude control for a micromechanical flying insect including thorax and sensor models
Deng, XY
Schenato, L
Sastry, SS
[J]. 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 1152 - 1157
[2] Halteres for the micromechanical flying insect
Wu, WC
Wood, RJ
Fearing, RS
[J]. 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 60 - 65
[3] Piezoelectrically actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax
Sitti, M
[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2003, 8 (01) : 26 - 36
[4] PZT actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax
Sitti, T
[J]. 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 3893 - 3900
[5] Lift force improvements for the micromechanical flying insect
Avadhanula, S
Wood, RJ
Steltz, E
Yan, J
Fearing, RS
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 1350 - 1356
[6] Flight force measurements for a micromechanical flying insect
Wood, RJ
Fearing, RS
[J]. IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 355 - 362
[7] Hovering flight control of a micromechanical flying insect
Deng, XY
Schenato, L
Sastry, S
[J]. PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2001, : 235 - 240
[8] Towards flapping wing control for a micromechanical flying insect
Yan, J
Wood, RJ
Avadhanula, S
Sitti, M
Fearing, RS
[J]. 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 3901 - 3908
[9] Characterization of the micromechanical flying insect by optical position sensing
Steltz, E
Wood, RJ
Avadhanula, S
Fearing, RS
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 1252 - 1257
[10] Wing force map characterization and simulation for the micromechanical flying insect
Yan, J
Fearing, RS
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 1343 - 1349

← 1 2 3 4 5 →