Design and analysis of millimeters-scale omnidirectional mobile microrobot for microfactories

Abstract

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.

Keywords

mobile microrobot / omnidirection / micromotor / microfactory