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Proceedings Paper

Fabrication and experiment of microlegs for an insectlike microrobot
Author(s): Agnes Bonvilain; Nicolas Chaillet
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Paper Abstract

This paper deals with a work in progress concerning the fabrication of an insect-like microrobot. Because of their large motions and their interesting density of energy, thermal actuation has been chosen to move this microrobot and an integrated structure has been held. Compliant thermal micro-actuators have been studied, fabricated and tested. The characterization and modeling of such kind of actuators have been done. Then, compliant microlegs for our microrobot were modelized and designed with two degrees of freedom for each leg. The design, operating cycle and process for the microfabrication of these microlegs will be given in this paper. The microlegs are constituted of two thermal bimorphs connected together with a microbeam. Several microlegs are fabricated on one silicone wafer and bonded on a printed board to allow their activation. The experimental results concerning the motions of these microlegs will be given. Based on the results of these first experiments, a second generation of microlegs were designed, fabricated and tested. Then the next step will be the microfabrication of the whole structure of the microrobot including their legs, in a monolithic way on one single silicon wafer.

Paper Details

Date Published: 8 October 2001
PDF: 12 pages
Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); doi: 10.1117/12.444123
Show Author Affiliations
Agnes Bonvilain, Ecole Nationale Superieure de Mecanique et des Microtechniques de Besancon (France)
Nicolas Chaillet, Ecole Nationale Superieure de Mecanique et des Microtechniques de Besancon (France)

Published in SPIE Proceedings Vol. 4568:
Microrobotics and Microassembly III
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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