Design and analysis of millimeters-scale omnidirectional mobile microrobot for microfactories

2008, Volume 3, Issue 2

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Frontiers of Mechanical Engineering >> 2008, Volume 3, Issue 2 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;

Available online: 2008-06-05

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Abstract

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.

Keywords

dual-wheel structure ; microrobot ; relationship ; electromagnetic ; Experiment

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