ELECTROMAGNETIC DRIVE MICROROBOT MOBILE MECHANISM AND DESIGN

Recently, the studies of microrobot are more and more interesting. Due to the characteristic ofmicrorobot itself, its mobile mechanism and mechanical design are not the same as ordinary robot manipulator, This articie tries to analysis the mobile mechanism and design of the Electromagnetic Drive Microrobot.The article first studies the mobile mechanism of the Electromagnetic Drive Microrobot, especially of its special mobile mode : The robot moves crosswise by the feet slapping the mainbody driven with the electromag-net.The article considers that the robot’s movement can be devided into three parts: take-off phase, flight-phase and drop-down phase, these three processes circulate and make the robot move. Take-off phase is theprocess of accumulating energy. flight phase is process of rnodulating the robot’s posture in the air, dropdown phase is the process of coIIiding wIth the ground and sliding; The detailed mathematical analysis of theevery process is presented is this artide. Then the article designs a microrobot based on this mobile mecha-nism. At last the article gives out Electromagnetic Drive Microrobot ControI System and discusses some fac-tors which affect the Robot’s movement such as the mass ratio between the mainbody and the foot, triggerpulse frequence, the friction coefficient between the foot dnd the ground and the electromagnetic coil’s electriccurrent.The mobile conditions of the microrobot are thus given.