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First experiments on MagPieR: A planar wireless magnetic and piezoelectric microrobot

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6 Author(s)
Ivan, I.A. ; Autom. Control & Micro-Mechatron. Syst. Dept., UTBM, Besancon, France ; Gilgueng Hwang ; Agnus, J. ; Rakotondrabe, M.
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The paper documents the principle and experiments of the "2mm dash" winner at NIST IEEE Mobile Microrobotics Challenge held at ICRA2010 in Alaska [1]. Submission is made for the special session "ICRA Robot Challenge: Advancing Research Through Competitions". The new MagPieR microrobot was specially designed for breaking the speed record, providing a planar magnetic actuation with an optimised coils setup and a subsequent piezoelectric actuation for improved sliding condition. The paper describes the principle of actuation, the microrobot manufacturing flowchart and the assembly setup. Some simulations are provided with a first series of experimental data and conclusions.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011