Design,Kinematic Analysis and Control of Millimeter-scale Omnidirectional Mobile Microrobot for Microassembly
LI Jiang-hao1,2, LI Zhen-bo1, CHEN Jia-pin1
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. 毫米级全方位移动微型装配机器人设计、运动学分析与控制[J]. 机器人, 2008, 30(1): 63-69..
LI Jiang-hao, LI Zhen-bo, CHEN Jia-pin. Design,Kinematic Analysis and Control of Millimeter-scale Omnidirectional Mobile Microrobot for Microassembly. ROBOT, 2008, 30(1): 63-69..
Abstract：A millimeter-scale mobile microrobot with a novel omnidirectional structure for microassembly in a microfactory is presented,and it is driven by four electromagnetic micromotors with 3 mm in diameter and equipped with a pair of micro-grippers.The rank of the kinematic matrix is analyzed to demonstrate the microrobot's omnidirectional characteristics,and the kinematic equation is set up for the micro-gripper.A microrobot control system is designed based on computer vision,and the microrobot locating and driving approaches are described.Experimental results demonstrate the load-carrying ability and maneuverability of the microrobot,and the validity of the control system.
[1] Yesin K B,Vollmers K,Nelson B J.Modeling and control of untethered biomicrorobots in a fluidic environment using electromagnetic fields[J].The International Journal of Robotics Research,2006,25(5 -6):527 -536.
[2] Shibata T,Sasaya T,Kawahara N.Development of in-pipe microrobot using microwave energy transmission[J].Electronics and Communications inJapan,Part 2,2001,84 (11):1-8.
[3] Dembele S,Rochdi K,Sandoz P,et al.Development of a microrobot based micropositioning station:the microrobot and its position and orientation measurement method[A].Proceedings of SPIE (vol.4568)[C].Bellingham,WA,USA:SPIE,2001.318-324.
[4] Fatikow S,Seyfried J,Fahlbusch S,et al.A flexible microrobotbased microassembly station[J].Journal of Intelligent and Robotic Systems,2000,27(1 -2):135-169.
[5] 穆晓枫,顾大强,陈柏,等.血管微型机器人无损伤体内驱动方法[J].浙江大学学报(工学版),2005,39(5):618-622.
[6] 秦磊,李满天,孙立宁.无线微小型机器人及其驱动控制[J].机械工程学报,2006,42(B05):106-110.
[7] Qin C J,Ma P S,Yao Q.A prototype micro-wheeled-robot using SMA actuator[J].Sensors and Actuators,A:Physical,2004,113(1):94-99.
[8] Li Z B,Zhang C.Genetic algorithms for the optimal design of electromagnetic micro-motors[J].High Technology Letters,2000,6(1):50-53.
[9] Campion G,Bastin G,D'Andrea-Novel B.Structural properties and classification of kinematic and dynamic models of wheeled mobile robots[J].IEEE Transactions on Robotics and Automation,1996,12(1):47 -62.
[10] Bayle B,Fourquet J Y,Renaud M.Kinematic modelling of wheeled mobile manipulators[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2003.69-74.
[11] Li Z B,Chen J P,Ge X,et al.Novel microstepping control methods for electromagnetic micromotors with star-connected winding[J].Sensors and Actuators,A:Physical,2007,134(2):513 -518.
