Volume 33 Issue 6
Nov.  2011
Turn off MathJax
Article Contents
Abstract
References
ZHANG Dawei, CHEN Jiapin, LI Zhenbo. An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors[J]. ROBOT, 2011, 33(6): 712-718.
Citation: ZHANG Dawei, CHEN Jiapin, LI Zhenbo. An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors[J]. ROBOT, 2011, 33(6): 712-718.
shu

An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors

  • Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiao Tong University, Shanghai 200030, China

More Information
  • Received Date: March 21, 2011
  • Revised Date: June 28, 2011
  • Published Date: November 14, 2011
    Graphical Abstract
    • Abstract
  • An omni-directional wall-climbing wheeled microrobot is presented.The integral design with driver and adhesive is realized by integrating the axial flux electromagnetic micromotor and the permanent-magnetic wheel.An omni-directional wall-climbing mechanism is designed by using a set of steering gears and three standard permanent-magnetic wheels.The required torque and magnetic force for the movement of the microrobot are derived by dynamic analysis. The sizes of permanent-magnetic wheels are optimized in combination with their own design constraints by ANSOFT and Pro/Engineer simulation,so as to reduce the unnecessary torque consumption under the condition that the load of the microrobot remains the same.The simulation and experimental results demonstrate the feasibility of these concepts.
    • FullText(HTML)
    • References (14)
  • [1]
    Takeda M,Namura K,Nakamura K,et.al.Development of chain-type micromachine for inspection of outer tube surfaces(basic performance of the 1st prototype)[C]//13th Annual International Conference on Micro Electro Mechanical Systems.Piscataway,N J,USA:IEEE,2000:805-810.
    [2]
    Rochat F,Scboeneich P,Luthi B,et al.Cy-mag3D:A simple and miniature climbing robot with advance mobility in ferromagnetic environment[J]. Industrial Robot,2011,38(3):229-233.
    [3]
    Aoyama H,Fuchiwaki O,Misaki D,et.al.Desktop micro machining system by multiple micro robots[C]//IEEE Conference on Robotics,Automation and Mechatronics.Piscataway,NJ,USA:IEEE,2006:75-80.
    [4]
    李敏,刘京诚,刘俊,等.一种新型微小爬壁机器人[J]. 现代电子技术,2007,30(13):101-104.Li M,Liu J C,Liu J,et al.A novel micro-climbing-wall robot[J]. Modem Electronics Technique,2007,30(13):101-104.
    [5]
    Daltorio K A,Horchler A D,Gorb S,et al.A small wall-walking robot with compliant,adhesive feet[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,N J,USA:IEEE,2005:3648-3653.
    [6]
    Greuter M,Shah G,Caprari G,et al.Toward micro wailclimbing robots using biomimetic fibrillar adhesives[C]//Proceedings of 3rd International Symposium on Autonomous Minirobots for Research and Edutainment.New York,NY,USA:Springer,2006:39-46.
    [7]
    Silva M F,Machado J,Tar J K.A survey of technologies for climbing robots adhesion to surfaces[C]//IEEE International Conference on Computational Cybernetics.Piscataway,NJ,USA:IEEE,2009:127-132.
    [8]
    张海洪,淡士力,龚振邦.爬壁机器人全方位移动新机构的研究及运动学分析[J]. 机电一体化,2000,6(4):15-18.Zhang H H,Tan S L,Gong Z B,The study on a new omnidirectional mechanism and the kinematics of the wall-climbing robot[J]. Mechatronics,2000,6(4):15-18.
    [9]
    Zhao Y Z,Fu Z,Cao Q X,et al.Development and applications of wall-climbing robots with a single suction cup[J]. Robotica,2004,22(6):643-648.
    [10]
    Hillenbrand C,Schmidt D,Betas K.CROMSCI:Development of a climbing robot with negative pressure adhesion for inspections[J]. Industrial Robot,2008,35(3):228-237.
    [11]
    Kitai S,Tsuru K,Hirose S.The proposal of swarm type wall climbing robot system "Anchor climber"-The design and examination of adhering mobile unit[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2005:475-480.
    [12]
    Lee S H,Eum Y J,Lee M C.Recognition of corrosion state based on omnidirectional mobile robot for inspection of CAS for oil tanker[C]//Proceedings of the SICE Annual Conference.Piscataway,NJ,USA:IEEE,2008:155-159.
    [13]
    Li Z B,Zhang C.Genetic algorithms for the optimal design of electromagnetic micro-motors[J]. High Technology Letters,2000,6(1):50-53.
    [14]
    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 J H,Li Z B,Chen J P.Design,kinematic analysis and control of millimeter-scale omnidirectional mobile microrobot for microassembly[J]. Robot,2008,30(1):63-69.
    • Related Articles

Catalog

    Get Citation
    PDF
    XML
    Article views (31) PDF downloads (501) Cited by()
    Related
    Links： More+

    Copyright © Shenyang Institute of Automation, Chinese Academy of Sciences

    Address: 135 Chuangxin Road, Shenyang, China (110169)

    Tel: 86-024-23970050,86-024-23970088

    E-mail: jqr@sia.cn

    Email Alert

    Supported by: Beijing Renhe Information Technology Co., Ltd.  Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return