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

Design,Kinematic Analysis and Control of Millimeter-scale Omnidirectional Mobile Microrobot for Microassembly

  • 摘要: 介绍了一种用于微型工厂的毫米级移动微装配机器人,其具有独特的全方位运动结构.微机器人由4个直径3mm的电磁微马达驱动,并装备有一对微型夹钳.通过分析运动学矩阵的秩,证明了微机器人的全方位特性,并建立了微夹钳的运动学方程.设计了基于计算机视觉的微机器人控制系统,给出了微机器人定位和驱动方法.实验证明了微机器人的负载能力、机动性以及控制系统的有效性.

     

    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.

     

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