MEMS earthworm: a thermally actuated peristaltic linear micromotor

This paper examines the design, fabrication and testing of a bio-mimetic MEMS (micro-electro mechanical systems) earthworm motor with external actuators. The motor consists of a passive mobile shuttle with two flexible diamond-shaped segments; each segment is independently squeezed by a pair of stationary chevron-shaped thermal actuators. Applying a specific sequence of squeezes to the earthworm segments, the shuttle can be driven backward or forward. Unlike existing inchworm drives that use clamping and thrusting actuators, the earthworm actuators apply only clamping forces to the shuttle, and lateral thrust is produced by the shuttle's compliant geometry. The earthworm assembly is fabricated using the PolyMUMPs process with planar dimensions of 400 mu m width by 800 mu m length. The stationary actuators operate within the range of 4-9 V and provide a maximum shuttle range of motion of 350 mu m (approximately half its size), a maximum shuttle speed of 17 mm s(-1) at 10 kHz, and a maximum dc shuttle force of 80 mu N. The shuttle speed was found to vary linearly with both input voltage and input frequency. The shuttle force was found to vary linearly with the actuator voltage.