464 pages | 9 Color Illus. | 303 B/W Illus.
From conception to realization, Microrobotics: Methods and Applications covers all aspects of miniaturized systems that physically interact and manipulate objects at the microscale. It provides a solid understanding of this multidisciplinary field, which combines areas of materials science, mechanical engineering, and applied physics.
Requiring no formal prerequisites, the book begins by introducing basic results from the strength of materials, mechanics, and applied physics. After forming this foundation, the author describes various flexure systems, actuators, and sensors as well as fabrication techniques relevant for microrobots. He then explores applications of microrobotics in medicine, materials science, and other areas. Numerous exercises encourage hands-on appreciation of the content and ancillary materials are available on a CD-ROM.
Focusing on design-oriented multidisciplinary activities, this text describes how to implement various methods for solving microrobotics problems and designing mechanical systems at the microscale. With a broad overview of the current state of the art from research and industry perspectives, the book envisions the future of microrobotics and explores its potential contributions to technology.
What Is Microrobotics?
Microrobots for What?
What Is the Science and Technology behind Microrobotics?
Fundamental Concepts of Linear Elasticity
Mechanics of Material in the Context of Microrobotics
Concept of Stress
Concept of Deformation: Strain
Elasticity: Hooke’s Law
Properties of Plane Area: Second Moment of Inertia
Element of Beam Theory
Fundamental Concepts of Kinematics
Basics Tools for Kinematic Analysis
Kinetics and Dynamics
Linear and Angular Momentum
Equations of Motion
Illustrative Example: The Double Pendulum
Analysis of Multibody Systems
Forward Kinematics (Geometrical Model)
Direct Kinematics: Jacobian of a Robot
Applied Physics for Microrobotics
An Introduction to the Physics of Adhesion
Material Structure and Properties: Crystal and Symmetry
Mathematical Formalism: Generalized Stiffness Matrix
Elemental Flexures (Building Blocks): Design Methodology
Elemental Flexures: Cantilever Beam
System Based on Flexures: Design Methodology
Design Principles of Actuators
Shape Memory Alloys
Actuators: Other Principles
Sensors in Microrobotics
Sensing Technologies for Displacements
Optical-Based Displacement Sensors
Motion Tracking with Microscopes
IMPLEMENTATION, APPLICATIONS, AND FUTURE PROSPECTS
Implementation: Integration and Fabrication Aspects
An Overview of Microfabrication Principles
Design Selection Criteria
State of the Art and Future Directions in Microrobotics
Applications in Medicine
Microrobotics/Nanorobotics for Materials Science Study
Tools for Microassembly: Microgripper Technologies Overview
Autonomous or Semiautonomous Microrobots
Appendix A: Illustration of Student Projects
Appendix B: Types of Joints in Mechanism
Appendix C: Elementary Flexure Joints: Stiffness Matrix
Appendix D: Material Properties Tables