Micro robot and mechanism Lab.

Assoc. Prof. Ohmi Fuchiwaki, Dept. of Mech. Engine. YNULab HP: http://www.fuchilab.ynu.ac.jp

Keyword; mechanism, micro robotics, precise positioning, control, micro manipulation

θR(x, y)

Precise mobile robots

9ｃｍ

Precise tools

<Capillary force gripper>

1mm

Cube

Cone

Column

＜In-liquid manipulation>

＜Multi-axial tweezer＞

<Atomic force Microscope>

[Wikipedia]

Measuring & Control

＜XYθ nm-scale servo control＞

Micro actuators & mech.

＜SMA heat engine ＞

Fix

Nut

Housing

Coil spring SMAlooped over pulleys

Smaller gear A

Pulley A

Larger gear B

Pulley BFix

High temp.SMA coil spring

𝐴𝐴 𝐵𝐵 𝐶𝐶

Low temp.

<Helical µ-mixer & 3D bridge>

<Soft gripper>

µTAS & Soft mech.collaborated with Ota lab.

Soldering

Pick & PlaceSensing

AssembleInjection

Flexible µ robot factory