Design and Analysis of a Millimeter-scale Omnidirectional Mobile Microrobot for Microfactory
LI Jiang-hao1, LI Zhen-bo2, CHEN Jia-pin1,2
1. Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University, Shanghai 200030, China; 2. College of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China
李江昊, 李振波, 陈佳品. 一种用于微型工厂的毫米级全方位移动微机器人设计与分析[J]. 机器人, 2007, 29(5): 423-427..
LI Jiang-hao, LI Zhen-bo, CHEN Jia-pin. Design and Analysis of a Millimeter-scale Omnidirectional Mobile Microrobot for Microfactory. ROBOT, 2007, 29(5): 423-427..
Abstract：An omnidirectional mobile microrobot with a size of 9 mm×8 mm×8 mm is introduced.Pure rolling movement between the wheels and the ground are achieved with a novel dual-wheel structure.The microrobot is driven by three electromagnetic micromotors with 2 mm diameter.Two of the micromotors are for translation and the other one is for steering.Dynamics is analyzed to unveil the relation between the micromotor torque and the dual-wheel structure size as well as various frictions.Simulation and experiment results demonstrate that the microrobot has good load-carrying ability and satisfies the requirements of handling task in a microfactory.
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