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Autonomous MicrorobotSeth Hollar, Sarah Bergreiter
Anita Flynn, Kris PisterSolar Cells
Motors
Legs
CMOSSequencer
8.6 mm
“The Actuation” – Hinges, Motors, Legs, Frame
“The Power” – Solar Cell Arrays and High Voltage Transistors
“The Brain” - CMOS Digital Circuits
Microrobot – Three Processes
Solar Cell/High Voltage ChipCMOS Chip
Robot Legs and Motors Chip
– Affix robot to wax for wirebonding
– 21 wirebonds
Assembly
Inchworm Motor
Preset Structure Leg and Linkage
Drive Actuator
Clutch
ActuatorsShuttle
Robot Leg Layout
Thrust and Power from Solid Propellant Microrockets
William Lindsay, Dana Teasdale, Veljko Milanovic, Kristofer Pister, and Carlos Fernandez-PelloBerkeley Sensor and Actuator Center
University of California Berkeley
Altitude vs. Average Thrust
050
100150200250300350
0.001 0.1 10 1000
Thrust Force (Newtons)
Alt
itu
de
(m
ete
rs)
Assuming pressure drag, constant total impulse
Thrust Measurements vs. Theory
0
5
10
15
20
25
0 0.5 1 1.5 2 2.5
Time (sec)
Thru
st (m
illin
ewto
ns)
Predicted altitude: 50 m