Microrobot, and associated control method, simulation method, and computer programs

A method for controlling a movement of the actuating member of a microrobot towards a position defined by coordinates in a predefined coordinate system;

• said control method being carried out by a processor able to control the microrobot;
• the microrobot being microfabricated according to microelectromechanical system technology, the microrobot comprising i pair of drive modules, i ranging from 1 to n where n is greater than or equal to 1;
• each drive module comprising a drive pin able to be moved in a second direction;
• said microrobot comprising:
• a mounting arranged to support two drive modules aligned in a direction perpendicular to the second direction, said drive modules forming a pair of drive modules;
• i pair of primary connecting-rod assemblies, each primary connecting-rod assembly being pivotably connected to the drive pin of a drive module of the ith pair of drive modules;
• a pair of secondary connecting-rod assemblies, each secondary connecting-rod assembly being pivotably connected to the primary connecting-rod assembly of the nth pair of drive modules and to the mounting;
• and
• an actuating member pivotably connected to each secondary connecting-rod assembly;
• said method comprising the following steps:
• for each coordinate among said abscissa and said ordinate,
• dividing said coordinate by the minimum deviation between two positions reachable by the actuating member;
• calculating the closest integer to the result of said division;
• converting said closest integer into binary;
• for each bit equal to one in each binary number obtained, moving to a high position the actuating pin of a drive module defined by electrical connections formed on said mounting.

A method for simulating the movement of an object by a microrobot, said simulation method being carried out by a processor able to control said microrobot;

• the microrobot being microfabricated according to microelectromechanical system technology, the microrobot comprising i pair of drive modules, i ranging from 1 to n where n is greater than or equal to 1;
• each drive module comprising a drive pin able to be moved in a second direction;
• said microrobot comprising:
• a mounting arranged to support two drive modules aligned in a first direction perpendicular to the second direction, said drive modules forming a pair of drive modules;
• i pair of primary connecting-rod assemblies, each primary connecting-rod assembly being pivotably connected to the drive pin of a drive module of the ith pair of drive modules;
• a pair of secondary connecting-rod assemblies, each secondary connecting-rod assembly being pivotably connected to the primary connecting-rod assembly of the nth pair of drive modules and to the mounting;
• and
• an actuating member pivotably connected to each secondary connecting-rod assembly;
• said method comprising the following steps:
• entering as a binary number the positions of the actuating pins of each drive module of the microrobot;
• calculating the ordinate and abscissa of the actuating member in a predefined coordinate system, based on the length of the first rod, the width of the first rod, and the movements of the drive modules.