Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts.

Sebastian Möbes (1) , Benoît Piranda (2) , Guillaume J. Laurent (1) , Julien Bourgeois (1) , Cédric Clévy (1) , Nadine Piat (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
2 LASELDI - Laboratoire de Semio-Linguistique, Didactique et Informatique

This paper describes the design, prototyping and control of a 2D modular and self-reconfigurable robot for conveying microparts. The elementary block is designed to have a package dimension under 1cm3 and will include the actuators, the electronics and the micro-controller. Electropermanent (EP) magnets are used for both the linkage and the traveling system to avoid any power consumption during the linkage. Some prototype blocks have been realized and show a well working of the motion and a sufficient holding force. The paper presents also an algorithm, common to all blocks units, allowing to reconfigure a set blocks from a spatial configuration to another one. This algorithm is implemented in a simulator software showing in real-time the reconfiguration of the robot.

Domaines: Micro et nanotechnologies/Microélectronique

Sebastian Möbes, Benoît Piranda, Guillaume J. Laurent, Julien Bourgeois, Cédric Clévy, et al.. Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts.. 2nd Workshop on Design, Control and Software implementation for distributed MEMS; dMEMS'12., Apr 2012, Besançon, France. pp.1-7. ⟨hal-00720243⟩