Silicon Inchworm Motors 1mm
Autonomous Microrobot Seth Hollar, Sarah Bergreiter Anita Flynn, Kris Pister Solar Cells Motors Legs CMOS Sequencer 8.6 mm
“The Actuation” – Hinges, Motors, Legs, Frame “The Power” – Solar Cell Arrays and High Voltage Transistors “The Brain” - CMOS Digital Circuits Microrobot – Three Processes
Solar Cell/High Voltage Chip CMOS Chip Robot Legs and Motors Chip –Affix robot to wax for wirebonding –21 wirebonds Assembly
Inchworm Motor Preset Structure Leg and Linkage Drive Actuator Clutch Actuators Shuttle Robot Leg Layout
Design of 2DOF Leg Shuttles Knee Tendons Foot Hip Poly Crossover
Thrust and Power from Solid Propellant Microrockets William Lindsay, Dana Teasdale, Veljko Milanovic, Kristofer Pister, and Carlos Fernandez-Pello Berkeley Sensor and Actuator Center University of California Berkeley
Combustion – Teasdale, Lindsey Solid rocket propellant 7 seconds thrust, I sp =15s ~1mJ out
Altitude vs. Average Thrust Assuming pressure drag, constant total impulse
Next Generation Design Increase the thrust and decrease the mass, while controlling thermal losses
Thrust Measurements vs. Theory Predicted altitude: 50 m
Rocket in Action
ROCKETBOY THANKS YOU! (Bill Lindsay)