Micro-scale Magnetic Asymmetric thin film Bimorph (µMAB) microrobot

We have designed a micro-scale Magnetic Asymmetric thin film Bimorph (µMAB) microrobot. Magnetostrictive bending, made from a magnetic film bonded to a nonmagnetic substrate, occurs when the film is magnetized by an applied field. A magnetostrictive stress is produced in the film. Bending occurs if one end of the two layer structures is clamped. Further, if the deflected end is in contact with some ground or face, a blocking force is produced which is able to provide mechanical work through the friction force it causes. Legs with different geometry dimensions and different contact line/areas are able to lead to different blocking forces and then friction forces. Making use of the friction difference along the contact face between the robot and the supporting substrate can push or pull the robot mass. If the robot is on the substrate and the external magnetic field is static and constant, the robot legs will remain bent; if the magnetic field is a pulsing signal on and off, the legs will perform bending and straightening, which means a walking/crawling motion will result. Further, when the surrounding magnetic field is a high frequency pulsing signal, for example, with the natural frequency of the robot, the robot would be expected to perform very fast walking and/or running motions. The direction control can be readily realized by changing the direction of magnetic field to align the magnetic body.