AirJet paper mover

To move human scale objects MEMS-like device arrays must apply reasonable forces (> mN) over human scale distances (10-100 cm). In principle batch fabricated valves controlling air jets can satisfy these actuation requirements. By extending printed circuit b oard technology to include electromechanical actuation, in a way similar to the extension of VLSI to MEMS, we can meet the requirement of low s ystem cost through batch fabrication, and integrate the transduction elements with computational and communication elements, all at s cales appropriate to the problem. In this paper we show that modulated air jets arrayed with position sensors can s upport and accelerate flexible media without physical contact. Precise motion control with three degrees of freedom parallel to the array, using high flow, lo w pressure air jet arrays is enabled using electrostatic valves having opening and closing times of ~1 ms. We present results of an exemplary platform based on printed circuit board technologies, having an array of 576 electrostatic flap valves (1152 for double-sided actuation) and associated oriented jets, and an integrated array of 32,000 optical sensors for high resolution detection of paper edge pos itions. Edge positioning precision during closed loop motion is ~25 microns rms. Fabrication and control of the system is described.