Abstract
A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotation. Kinematics model is analyzed to prove the omni-directional mobility. Virtual-Winding Approach (VWA) and PWM-Based Vector-Synthesize Approach(PBVSA) current control methods are presented to satisfy a requirement of higher positioning accuracy. Experimental results demonstrate the feasibility of this concept.
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CITATION STYLE
Li, Z., Chen, J., Tang, X., & Zhang, C. (2006). An omnidirectional mobile millimeters size micro-robot with novel duel-wheels. International Journal of Advanced Robotic Systems, 3(3), 223–230. https://doi.org/10.5772/5731
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