Electrostatic Actuator for Moving Cell in Distributed Microrobotic System

Abstract

This paper proposes the concepts of the distributed micro robotic system (DMRS) and the micro cellular robotic system, which is named the μ-CEBOT. DMRS is a dynamically reconfigurable robotic system (DRRS) and will be used for task execution in a space with a small entrance which is too narrow for the entire robotic system to enter. The μ-CEBOT is one of the realization methods of the DMRS. A stacked-type electrostatic actuator (STESA) is developed for a prototype of a moving cell of the μ-CEBOT. Experiments are conducted to evaluate the performance of the STESA. The results of the control simulation demonstrate the possibility of controlling the STESA.