Smart materials for microrobotics motion control and power harvesting

摘要: This thesis focuses on the use of smart materials in microrobotic applications. The development with capabilities to mechanically respond electrical stimuli or, at same time, electrically mechanical stimuli, has entailed microrobotics rapid evolution. Along this three families filed is studied. used are piezoelectric ceramics, polymers and ionic metal composites IPMC. similitude way they external motivated study. an induced strain under application electric field charge variation when a pressure applied. Although these similarly, their systems entails different problems. In applications studied problems enclosed treated. First all as for motion control microrobots Their flexibility opens door new microrobot case biomimetics. first regards insect-like mm3 microrobot. composed legs one antenna or tool object collision based polymers. sensor avoid collisions other objects. work presented consists theoretical models predict he leg second system controlling polymer IPMC underwater. It difficult obtain physical that describe materials, thus it important design strategy IPMCs. Furthermore thesis, problem manufacturing electrodes also treated.In part ceramics harvest power from vibrations Piezoelectric have higher energy densities compared methods harvesting vibrations. comparison polymers, produce voltages current levels more acceptable. From study performed conditions maximum generation obtained optimum electronic circuit storage management designed. At end using studied.KEY WORDS: Smart Materials, Microrobotic, Harvesting, Motion Control, Fonic Polimer, FPMC Piezoelectric, Modelling