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Hot lamination and origami assembly fabrication of miniaturized compliant mechanism.

ABSTRACT: We developed a process for fabricating a miniaturized hinged mechanism for microrobots by customizing our previously reported flapping-wing method to fabricate microscopic wing structures resembling insects. Flexible hinges were realized by removing the titanium layers of the structure, which were previously sandwiched between thin polyimide layers. A three-dimensional structure can also be realized via origami-like assembly owing to the hinge structure, where the hinge is made to work as a crease. Details of our method and a reference design are reported through a demonstration of a translation-to-rotation conversion mechanism for a piezoelectric actuator. • Simple fabrication using a single hot lamination and origami-like assembly. • Method based on FPC manufacturing technologies would be easy to implement in a variety of research. • Transmission mechanism for piezoelectric actuators was demonstrated, verifying that the structures fabricated by this process function appropriately.

SUBMITTER: Ozaki T

PROVIDER: S-EPMC8374692 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

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Hot lamination and origami assembly fabrication of miniaturized compliant mechanism.

Ozaki Takashi T Ohta Norikazu N Fujiyoshi Motohiro M

MethodsX 20210717

We developed a process for fabricating a miniaturized hinged mechanism for microrobots by customizing our previously reported flapping-wing method to fabricate microscopic wing structures resembling insects. Flexible hinges were realized by removing the titanium layers of the structure, which were previously sandwiched between thin polyimide layers. A three-dimensional structure can also be realized via origami-like assembly owing to the hinge structure, where the hinge is made to work as a crea ...[more]

PMID: 34434864

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Project description:A major goal of autonomous robot collectives is to robustly perform complex tasks in unstructured environments by leveraging hardware redundancy and the emergent ability to adapt to perturbations. In such collectives, large numbers is a major contributor to system-level robustness. Designing robot collectives, however, requires more than isolated development of hardware and software that supports large scales. Rather, to support scalability, we must also incorporate robust constituents and weigh interrelated design choices that span fabrication, operation, and control with an explicit focus on achieving system-level robustness. Following this philosophy, we present the first iteration of a new framework toward a scalable and robust, planar, modular robot collective capable of gradient tracking in cluttered environments. To support co-design, our framework consists of hardware, low-level motion primitives, and control algorithms validated through a kinematic simulation environment. We discuss how modules made primarily of flexible printed circuit boards enable inexpensive, rapid, low-precision manufacturing; safe interactions between modules and their environment; and large-scale lattice structures beyond what manufacturing tolerances allow using rigid parts. To support redundancy, our proposed modules have on-board processing, sensing, and communication. To lower wear and consequently maintenance, modules have no internally moving parts, and instead move collaboratively via switchable magnets on their perimeter. These magnets can be in any of three states enabling a large range of module configurations and motion primitives, in turn supporting higher system adaptability. We introduce and compare several controllers that can plan in the collective's configuration space without restricting motion to a discrete occupancy grid as has been done in many past planners. We show how we can incentively redundant connections to prevent single-module failures from causing collective-wide failure, explore bad configurations which impede progress as a result of the motion constraints, and discuss an alternative "naive" planner with improved performance in both clutter-free and cluttered environments. This dedicated focus on system-level robustness over all parts of a complete design cycle, advances the state-of-the-art robots capable of long-term exploration.

Dataset Information

Hot lamination and origami assembly fabrication of miniaturized compliant mechanism.

Publications

Hot lamination and origami assembly fabrication of miniaturized compliant mechanism.

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