Biomimetics Millisystem Lab

Project Overview
Millirobot Fabrication Tools
Rapid Prototyping Images
Biomimetic Millisystems Lab
Desktop Rapid Prototyping Millirobots (2001-2005)
Dextrous Micromanipulation and Microassembly
Eiji Shimada's Microassembly page
Manipulation of Microparts Using Force Controlled Pushing (1997-1998)
Microrobotics and Millirobotics Research

Rapid Prototyping of Millirobots Using Composite Fiber Toolkits

Since we are interested in developing all kinds of robots on a millimeter-sized scale, we are currently investigating methods to rapidly prototype such structures.   In this NSF supported project, we research the rapid prototyping of millirobots through the use of a kit of parts.  This envisioned kit of parts would contain links, joints, sensors, actuators, integrated wiring, power and control electronics, and batteries from which a user could put together any number of designs of fully functional autonomous millirobots.

Because the assembly of millimeter-sized parts can be laborious by hand, another focus of this research is on developing a low cost assembly tool for automatic assembly of the parts.  All of this work builds on previous work done by our lab in this area of desktop rapid prototyping millirobots.

Clicking on the kit parts in the table below gives more information on their construction or where they might be commerically available.  The second table provides insight on how these kit parts could be combined to form some basic linkages common in many millirobotic systems
crawling robot with integrated kit parts

Kit Parts
Structure parts

Stainless steel and polyester kit partsCarbon
      fiber and polyester kit parts
Basic Linkages

4 bar pic
Integrated wiring in parts
Piezoelectric Bending Actuators
Bimorph actuator

Kokam battery
Power and Control Electronics

power and control electronics board
Control software
fsm flow chart
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This research is sponsored by the NSF DMII Program. ``This material is based upon work supported by the National Science Foundation under Grant No. DMI-0423153. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation (NSF).''