Forward and backward control of an ultrafast millimeter-scale microrobot via vibration mode transition.

ABSTRACT: The ability to move backward is crucial for millimeter-scale microrobots to navigate dead-end tunnels that are too narrow to allow for turning maneuvers. In this study, we introduce a 15-mm-long legged microrobot, BHMbot-B, which is capable of rapid forward and backward locomotion through vibration mode transition control. By properly arranging the vibratory motions of the magnet, cantilever, and linkages, the pitching movement of the body and the vibration of the forelegs are in phase during the first-order vibration mode of the cantilever and in antiphase during the second-order mode, which induces the forward and backward movement of the microrobot. Owing to its outstanding load-bearing capacity, the BHMbot-B equipped with dual electromagnetic actuators, an onboard battery, and a contro

SUBMITTER: Yu X 

PROVIDER: S-EPMC11506123 | biostudies-literature | 2024 Oct

REPOSITORIES: biostudies-literature