A smart microrobot on chip: design, identification and modeling

Abstract

This paper deals with the MOC, microrobot on chip concept, which corresponds to the development of compact, inexpensive and easily "plug and use" microrobotic chips (as it is the usual case with electronic chips). A first prototype of a six degrees of freedom micromanipulator MOC (MMOC) illustrates this concept. The MMOC has six actuated degrees of freedom (DOF): one scanning stage can moves the gripper in XY axes, and the gripper itself has two YZ DOF per finger. The first prototype of MMOC is electrically and mechanically connected on a smart card reader.