This research explores the scaling-down of direct-drive actuator technology previously developed by the PI. The prior efforts involved theoretical electrodynamics models of generalized EM actuators based on screw theory, and led to the development of miniature, high-torque spherical camera-pointing motors. The goal of the current project is to adapt the theory and magnetic technology to several robotic actuator applications at millimeter and submillimeter scales, This involves a combination of simulations and theoretical investigations of scaling properties and dynamics, development of a series of experimental devices to serve as testbeds for the ideas, and exploration of several medical and telerobotic applications of such miniaturization through research collaborations and corporate partnerships. The research results will be disseminated through multimedia, including publication in mathematical hypertext and access to experimental robots through the World-Wide Web. The plan is to publish the designs and details of experimental prototypes so that researchers are be able to access our files and produce exact copies of the devices.
