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[061] Citation: P.H. Marbot, B. Hannaford, 'Mini Direct Drive Arm for Biomedical Applications,'
Proceedings of ICAR 91, pp. 859-864, Pisa Italy, June 1991.
Abstract
The potential of electromagnetic actuation in very small machine has been
investigated. It has been compared to the newer technology of electrostatic
micro-machines. Considerations on energy density, scaling capability, heat
dissipation and actual geometry of a design have lead us to the conclusion that
electromagnetic actuators are also competitive in the submillimeter range. We
proceeded with the description of our 4 degree of freedom, direct drive, force
feedback mini-robot. It uses winchester disk drive technology, which is
compact, powerful, clean and getting smaller, year after year. This robot could
be the prototype of a family of mini-robots adapted to micro-surgery, biology
and clean-room environment.
["I would like a hard copy of this report"]
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Updated: Tue Aug 19 09:16:07 2008
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