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NRG EMMA Seminar

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by

Kamilah Carter

on 4 October 2013

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Transcript of NRG EMMA Seminar

EMMA
NRG
NIST
University of Waterloo
NanoRobotics Group
ElectroMagnetic Microrobotic
Actuation
System Operations
Design Process
Mobile Microrobotics Challenge
EMMA
ElectroMagnetic Microrobotic
Actuation
System Operations
Who are we?
Over 30 Students
Nanotechnology, Electrical, Software, Mechatronics Engineering AFM and SciBus Students!
A Student Team. A Research group.
Undergrads who know nanotech
is changing the world
We promote nanotechnology and compete in...
We build very tiny robots.
Smaller that 500 micrometers in each dimension, to be exact.
Mobility and Microassembly Challenges
Tests of microrobot movement and manipulation that could lead to real world applications.
In 2010, UW_NRG was the only:
Canadian Team
Undergrad Team
We placed
third!
Camera
Microscope
Field
Magnet
Actuators
Microscope and Camera
We observe the field and robot through a camera mounted on a microscope
This image is then fed into a computer where a visual recognition based
control program.
The competition tasks are automated through the control program.
Controls
We use a simple electromagnet and a few neodymium disk magnets to control the robot
Magnets are placed under the field, and connected to a pair of Zaber actuators
The actuators move the magnet with micrometer precision, and the robot follows the movement of the magnet.
Our robot consists of a non-magnetic alloy patterned around a Co-Ni-Mn-P core. We use sputtering, photolithography, and electroplating to make this robot
The robots are manipulated atop a silicon substrate that has been fluoridated to reduce stiction.
The “Fields” are areas of the substrate patterned with SU-8 to a specification outlined by NIST for the competition
Magnet & Actuators
Robot & Fields
Microscope & Camera
Our setup consists of three primary parts:
Robot and Fields
The silicon substrate sits atop a stand which also encloses the magnets and actuators.
EMMA
ElectroMagnetic Microrobotic
Actuation
Design Process
The Future
1.0
1.5
2.0
EMMA 1.0
flat, three-pronged robot made from an alloy of cobalt, nickel, phosphorous, and manganese

stood up on its prongs and slid around
This kept friction low.
Made it difficult to push objects around.
EMMA 1.5
similar composition to 1.0, but square shaped

also stands on its edge and slides around

adept at pushing objects due to its flat face and constant contact with the ground
EMMA 2.0
contains a ferromagnetic core and a nonmagentic shell which causes 2.0 to sit flat on the feild

will be able to "catch" and push objects around

currently under construction
Other magnetic
ideas UW_NRG is
considering could include
a spherical EMMA.
this would require a new fab process, but a rolling robot could considerably reduce friction considerably
Full transcript