《机械工程前沿(英文)》
>> 2008年
第3卷
第2期
doi:
10.1007/s11465-008-0030-5
Design and analysis of millimeters-scale omnidirectional
mobile microrobot for microfactories
1.Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University; 2.College of Information Science and Engineering, Yanshan University;
发布日期:
2008-06-05
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摘要
An omnidirectional mobile microrobot with a 9 mm × 8 mm × 8 mm size is introduced. The microrobot is driven by three electromagnetic micromotors with 2 mm diameter, two of which are for linear movement and the third one for steering. Dynamics is analyzed to present the relationship between the micromotor torque and the dual-wheel structure size as well as the frictions. Experiment results show that the microrobot payload ability can satisfy the requirements of conveying tasks in microfactories.