PDF(493 KB)
Design and analysis of millimeters-scale omnidirectional
mobile microrobot for microfactories
- LI Jianghao1, LI Zhenbo1, CHEN Jiapin1, LI Jianghao2
Author information
+
1.Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University; 2.College of Information Science and Engineering, Yanshan University;
Show less
History
+
| Published |
| 05 Jun 2008 |
| Issue Date |
| 05 Jun 2008 |
An omnidirectional mobile microrobot with a 9 mm × 8 mm × 8 mm size is introduced. The microrobot is driven by three electromagnetic micromotors with 2 mm diameter, two of which are for linear movement and the third one for steering. Dynamics is analyzed to present the relationship between the micromotor torque and the dual-wheel structure size as well as the frictions. Experiment results show that the microrobot payload ability can satisfy the requirements of conveying tasks in microfactories.
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
This is a preview of subscription content, contact
us for subscripton.
References
1. Dario P Carrozza M C Stefanini C et al.A mobile microrobot actuated by a new electromagneticwobble micromotorIEEE/ASME Transactionson Mechatronics 1998 3(1)916. doi:10.1109/3516.662863
2. Caprari G Estier T Siegwart R Fascination of down scaling-Alice the sugar cube robotJournal of Micromechatronics 2002 1(3)177189. doi:10.1163/156856301760132097
3. Byrne R H Adkins D R Eskridge S E et al.Miniature mobile robots for plume tracking and sourcelocalization researchJournal of Micromechatronics 2001 1(3)253261. doi:10.1163/156856301760132141
4. Takeda M Applicationsof MEMS to industrial inspectionThe 14thIEEE International Conference on Micro Electro Mechanical SystemsPiscataway, NJ, USAIEEE 2001 182191
5. Qin Changjun Ma Peisun Yao Qin A prototype micro-wheeled-robot using SMA actuatorSensors and Actuators A 2004 113(1)9499. doi:10.1016/j.sna.2004.01.017
6. Yu H Y Spenko M Dubowsky S Omni-directional mobility using active split offset castorsJournal of Mechanical Design, Transactions of theASME 2004 126(5)822829. doi:10.1115/1.1767181
7. Park T B Lee J H Yi B J et al.Optimal design and actuator sizing of redundantlyactuated omni-directional mobile robotsProceedings of the IEEE International Conference on Robotics &AutomationPiscataway, NJ, USAIEEE 2002 732737
8. LI Zhenbo Zhang Chen Genetic algorithms for theoptimal design of electromagnetic micro motorsHigh Technology Letters 2000 6(1)5053
9. Li Zhenbo Chen Jiapin Ge Xiang et al.Novel microstepping control methods for electromagneticmicromotors with star-connected windingSensors and Actuators, A: Physical 2007 134(2)513518. doi:10.1016/j.sna.2006.05.039
AI Summary
