A report discusses flexible microactuators for a proposed generation of small, mobile, special-purpose robots. Aspects of this topic were discussed in two previous articles in NASA Tech Briefs: "Thin-Film, Light-Energized Bimorph Micromechanical Actuators" (NPO-19607), Vol. 20, No. 8 (August 1996), page 11a and "Tetherless, Optically Controlled Nanorovers" (NPO-19606), Vol. 21, No. 3 (March 1997), page 92. To recapitulate: insectlike robots equipped with microsensors and/or micromanipulators are proposed for use in applications as diverse as remote exploration, surgery, and surveillance. These robots would move by the electronically and/or photonically controlled bending of flexible cantilever-beam bimorph microactuators (composites of thin piezoceramic films on strong polymeric substrates) that would be analogous to animal limbs except that they would not be jointed. The report emphasizes that in comparison with other actuators with equal areas, the proposed microactuators would offer high ratios of generated force to input power, and that unlike actuators micromachined from silicon, the proposed microactuators would not be restricted by the clamping effects of substrates. The report reviews the state of the art, discusses the principles of operation and the rationale for using the microactuators, describes potential applications, and proposes research to develop advanced piezoceramic materials for microactuation.
This work was done by Sarita Thakoor and Jim Cutts of Caltech for NASA's Jet Propulsion Laboratory. To obtain a copy of the report, "Flexible Micro-Actuators for Advanced Mobility," access the Technical Support Package (TSP) free on-line at www.techbriefs.com under the Mechanics category, or circle no. 108 on the TSP Order Card in this issue to receive a copy by mail ($5 charge). NPO-20019
This Brief includes a Technical Support Package (TSP).
Flexible actuators for small, mobile, special-purpose robots
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Overview
The document is a NASA Technical Support Package detailing advancements in flexible actuators for small, mobile, special-purpose robots, particularly in the context of exploration and various applications. Authored by James A. Cutts and Sarita Thakoor, it emphasizes the need for innovative actuation technologies to enable the development of miniature robotic systems that can operate in diverse environments, including planetary surfaces.
The introduction outlines the significance of micro-electro-mechanical systems (MEMS) and micro-opto-mechanical systems (MOMS) in revolutionizing applications across the Department of Defense (DoD) and NASA. These technologies are essential for creating smaller spacecraft components and enhancing medical tools, such as micro-catheters, to facilitate minimally invasive surgeries. The document stresses that a breakthrough in actuation technology is crucial for achieving the size reduction necessary for next-generation mobility applications.
A key focus of the report is on the concept of advanced mobility through the design of insect-like robots capable of in-situ exploration. These robots are envisioned to be small, agile, and equipped with microsensors, allowing them to navigate challenging terrains and perform tasks that traditional exploration methods (like rovers and landers) cannot efficiently handle. The document discusses various mobility modes these robots could employ, including surface-roving, burrowing, hopping, hovering, and flying, mimicking biological mechanisms to enhance their functionality.
The report also highlights the importance of flexible microactuators, which must deliver high strain and force while maintaining low power consumption and operating effectively across a wide range of temperatures. It identifies piezoelectrics as a leading candidate for advanced microactuation, suggesting that amplification techniques could further enhance their performance.
In summary, the document presents a comprehensive overview of the potential for flexible actuators in creating small, mobile robots that can perform a variety of functions in exploration and medical applications. It underscores the necessity for continued innovation in actuation technology to meet the demands of future robotic systems, ultimately aiming to improve exploration capabilities and operational efficiency in challenging environments.
