Structure of microrobots using electromagnetic actuators

MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478) Pub Date : 1999-11-23 DOI:10.1109/MHS.1999.820011

A. Torii, T. Koyanagi, A. Ueda

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引用次数: 7

Abstract

We have been developing microrobots which are driven by the clamping of electromagnetic actuators and by the thrusting of piezoelectric transducers. The principle of the microrobots is based on an inchworm motion. The microrobots have three degrees of freedom and realize the linear and the rotational displacements not only on a horizontal plane but also on a slope. Less than 1 /spl mu/m resolution in the linear displacement and less than 1 /spl mu/rad resolution in the rotational displacement were obtained on a flat surface. However our microrobot could not climb on a steep slope. In this paper we discuss the structures of microrobots from the viewpoint of an electromagnetic force. We consider the electromagnetic forces of three microrobots theoretically and experimentally. The electromagnetic force is determined by a magnetic flux which is determined by an electromotive force and reluctance of a magnetic path. Since the microrobots differ in their electromagnetic paths, their reluctances and electromagnetic forces are different from each other. We also discuss the linear and rotational displacements of the microrobots theoretically and experimentally.

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采用电磁作动器的微型机器人结构

我们一直在开发由电磁执行器夹紧和压电换能器推力驱动的微型机器人。微型机器人的原理是基于一寸虫的运动。该微型机器人具有三个自由度，不仅可以在水平面上实现直线位移和旋转位移，还可以在斜坡上实现直线位移和旋转位移。在平面上，线性位移的分辨率小于1 /spl mu/m，旋转位移的分辨率小于1 /spl mu/rad。然而，我们的微型机器人不能爬上陡坡。本文从电磁力的角度讨论了微型机器人的结构。我们从理论上和实验上考虑了三种微型机器人的电磁力。电磁力由磁通量决定，而磁通量又由电动势和磁路的磁阻决定。由于微型机器人的电磁路径不同，它们的磁阻和电磁力也不同。从理论上和实验上讨论了微机器人的线性位移和旋转位移。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478)

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