A self-locking foldable mechanism enables a robotic arm to be folded flat and maintain high stiffness when deployed.

Abstract Developing small‐scale, lightweight, and flexible devices with integrated microactuators is one of the critical challenges in wearable haptic devices, soft robotics, microrobotics. In this study, a novel fabrication process that leverages benefits 3D printing two‐photon polymerization printed circuit boards (FPCBs) presented. This method enables microsystems 3D‐printed electrostatic microactuators, which are demonstrated micromirror array legged microrobot mass 4 mg. actuators on...

The fabrication and integration of microactuators with 3D micromechanisms are necessary to develop microrobots higher capability complexity. In this work, a two-step method combining printing two-photon polymerization (TPP) aluminum sputtering is demonstrated. Actuators using two different transduction mechanisms (thermal electrostatic) were fabricated in process, thermal actuator was printed mechanism three-dimensional space without additional assembly steps. This work also provides...

This work demonstrates the first sputtered thin-film nickel-titanium (NiTi) shape-memory alloy (SMA) actuators combined with direct 3D printing of polymeric structures. Resulting are fast to prototype, reliable and stable (up 5000 cycles), can utilize complex geometries challenging achieve conventional MEMS microfabrication. The actuator design uses printed polymer as passive layer in unimorph actuators, adding significant versatility design. An designed for high force-displacement was...

Soft, stretchable sensors, such as artificial skins or tactile are attractive for numerous soft robotic applications due to the low material compliance. Conductive polymers a necessary component of many and this work presents electromechanical characterization 3D-printable conductive polymer composites. Dog-bone shaped samples were 3D printed using digital light processing (DLP)-based printer characterization. The printable resin consists monomer, crosslinker, nano-filler, photo-initiator....

Shape memory alloy (SMA) actuators can provide significant advantages for small-scale robotics given their robustness, energy density, and low voltage actuation. However, NiTi thin films typically found in SMA microactuators do not often useful forces displacements microrobotic applications. This work presents a fabrication process which film are integrated with two-photon polymerization (TPP) 3D printing to scale these up use mesoscale systems. Individual unimorph characterized respect...

Dynamic and agile locomotion in legged robots enables them to overcome obstacles navigate complex unstructured terrain. However, the leg mechanisms actuators needed for versatile are much more challenging manufacture integrate sub‐gram scale robots. Herein, Picotaur, a 15.4 mg hexapedal robot with legs that enable various tasks such as turning, climbing 3D‐printed stairs, pushing loads first time at these size scales, is presented. 3D printing two‐photon polymerization of electrostatically...

A polarization-independent multilayer dielectric diffraction grating with a low aspect ratio and high efficiency was designed fabricated. The density of 1200 lines/mm had an 0.59, mean in the Littrow angle ±2.5∘, 1030-1080 nm wavelength range 97.2%. fabricated using ion assisted deposition reactive etching techniques. 96.1%, its standard deviation 0.68%. irradiated 1064 cw laser, power 30kW/cm2, for 1 min to measure temperature change before after laser application. It verified that...

This work demonstrates two strategies to reduce the energy required for actuation of thin film NiTi unimorph actuators with 3D printed polymeric passive layers. First, by taking advantage printing, a low mass and high stiffness layer can be used achieve faster heating/cooling rates. ultimately reduces time threshold temperature. The second approach uses higher currents shorter periods reach predefined operational temperature less energy. Using well-designed combined pulsed results in...

Creating microscale actuated mechanisms in 3D space is extremely challenging due to limitations microfabrication processes. In this work, we present a 3D-printed adaptive microgripper that driven by thin-film NiTi microactuators with linkage mechanisms. The microgripper's fingers are passively so the can provide conformal gripping on objects. move its <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{225}\ \boldsymbol{\mu}...

This work presents 3D printed torsional electrostatic actuators in which a design of circular combs and springs enables an out-of-plane angular movement. The were fabricated by novel printing process using two-photon polymerization (TPP) followed sputtering etch steps. quasi-static behavior the actuator was characterized with respect to applied voltage, maximum displacement 13.8° achieved at 190 V. Viscoelastic material observed during actuation, but 10,000 cycles repeated actuation tested...

Vine robots are a form of soft continuum robot formed thin-wall cylinder which has been partially inverted. When pressure is applied internally, the inverted material propelled outwards causing body to extend [1] (See Figure 1). This unique navigation facilitates shear-free locomotion and high tip force, leading their proposed use in endoluminal interventions [2]. These properties have potential minimize traumatic tissue interactions and, due inherent minaturizability, facilitate deep within...

For the last few decades, lead-based(PbO-) glass-frits have been used in Ag electrode paste for screen printing metallization on Si-solar cell because of strong contact formation with a low cost. However, due to electric insulation oxide glass (OG), even though great deal effort has made improve resistance between grid and Si-emitter by adding nano-sized fillers, such as nano-Ag or ZnO, etc., there is huge limitation which could not be easily overcome an intrinsic electrical property OG....

Internal defects in the glass, like-as micro-voids, micro-cracks, or inclusions, easily cause failure when glass is exposed to shock thermal variation. In order produce highly reliable product, precision inspection of defect required. For this purpose, paper proposes a machine vision technique based on auto-focusing method, which searches and measures location under fact that edge image must be most clear focal plane CCD camera coincided with defect. As for search index, gradient indicator...

The design, fabrication, and system integration of insect-scale robots are still significant challenges in the field small-scale robotics.In this work, we present 4 mg PCB-bot, lightest legged microrobot actuated without an external (e.g., magnetic field).The PCB-bot has 3D printed leg mechanisms directly integrated onto a flexible circuit board (FPCB).The 4.4 mm long four legs which can be controlled to drive inchworm-like crawling gait.The took its first steps achieved maximum velocity 1.2...

This paper presents the first 3D printed MEMS sensor arrays on flexible substrates.A novel fabrication method integrates direct printing substrates with metal deposition and laser ablation to rapidly prototype of devices in a couple hours instead days using conventional methods.A secondary contribution introduces bio-inspired strain that closes switch at designed threshold, providing low-latency digital indicator for when particular has been reached.