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Integrated flexible microactuator systems

Published online by Cambridge University Press:  09 March 2009

Koichi Suzumori ,
Akihiro Koga ,
Fumika Kondo  and
Riyoko Haneda
Koichi Suzumori
Affiliation:
Research and Development Center, Toshiba Corporation 4-1, Ukishima-cho, Kawasaki-ku, Kawasaki 210 (Japan)
Akihiro Koga
Affiliation:
Research and Development Center, Toshiba Corporation 4-1, Ukishima-cho, Kawasaki-ku, Kawasaki 210 (Japan)
Fumika Kondo
Affiliation:
Research and Development Center, Toshiba Corporation 4-1, Ukishima-cho, Kawasaki-ku, Kawasaki 210 (Japan)
Riyoko Haneda
Affiliation:
Research and Development Center, Toshiba Corporation 4-1, Ukishima-cho, Kawasaki-ku, Kawasaki 210 (Japan)
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Summary

The flexible microactuator (FMA) is a novel pneumaticrubber actuator developed for use in microrobots. Thispaper reports on integrated FMA systems to achievedistributed motion as occurs in intestinal villi, and withmulti-legged arthropods such as centipedes.

For the purpose of miniaturization and integration of FMAs, the authors focussed on two technical issues: A new fabrication process based on stereo lithography and a new FMA design called a restraint beam FMA. Stereo lithography enables fabrication of micro-structures with rubber-like materials suitable for integrated FMAs. The restraint beam FMA makes it possible to fabricate FMAs from a single material, allowing stereo lithography to be used.

As examples of integrated FMA systems, four prototypes are shown: a 5 × 5 FMA array, a 3 × 3 FMA array which has pneumatic circuits at its base, a pipe interior mobile robot, and an amusement system consisting of 30 FMAs, which demonstrates ball handling ability.

Keywords

Microactuator systemFlexibleIntegratedFMARubber actuator
Type
Article
Information
Robotica , Volume 14 , Issue 5 , September 1996 , pp. 493 - 498
Copyright
Copyright © Cambridge University Press 1996

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References

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