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SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler

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Abstract

In this paper, we present recent research results aimed at creating mobile microrobotic agents powered by light energy. The SolarPede is a second-generation, cm-scale micro-crawler targeting microfactory applications. The microrobot is equipped with a legged locomotion system and an electronic backpack. This novel microrobot is an advancement in functionality and design over its decade-old predecessor, the ARRIPede, and includes technological advancements such as wireless communication, light power, and omnidirectional mobility on a flat operating surface. The robot “chassis” consists of Micro Electromechanical System (MEMS) electrothermal actuators and micro-assembled vertical legs. Attached to the “chassis” is an electronic backpack realized using custom Printed Circuit Boards and interfaced to the Silicon body by wire-bonding. A simulation model for the SolarPede was created to predict system behavior and dynamic operation, and to serve as a design tool. Finally, the omni-directional locomotion of the SolarPede was experimentally confirmed in a “belly-up” configuration and powered by a solar simulator. A Silicon payload was tracked under optical microscope to measure and verify the motion velocity of 40 μm/s can be achieved by the microrobot in untethered operation with light irradiance equivalent to 8 suns.

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Acknowledgements

This work was supported by National Science Foundation Grants #IIS 1633119 and #CMMI 1734383. We wish to thank the Micro Nano Technology Center (MNTC) staff at the University of Louisville, for their help with cleanroom fabrication and wire bonding. We also wish to thank Douglas Jackson, for his dedicated help on the PCB designing and assembly.

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  1. University of Louisville, Louisville, KY, USA

    Ruoshi Zhang, Jordan F. Klotz, Danming Wei, Zhong Yang, Andriy Sherehiy, Mohammad N. Saadatzi & Dan O. Popa

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  1. Ruoshi Zhang
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  2. Jordan F. Klotz
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  3. Danming Wei
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  4. Zhong Yang
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  7. Dan O. Popa
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Correspondence to Ruoshi Zhang.

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Zhang, R., Klotz, J.F., Wei, D. et al. SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler. J Micro-Bio Robot 16, 1–12 (2020). https://doi.org/10.1007/s12213-020-00131-6

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  • DOI: https://doi.org/10.1007/s12213-020-00131-6

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