一种用于微型工厂的毫米级全方位移动微机器人设计与分析  

Design and Analysis of a Millimeter-scale Omnidirectional Mobile Microrobot for Microfactory

作　　者：李江昊[1] 李振波[1] 陈佳品[1] 

机构地区：[1]上海交通大学微纳科学技术研究院薄膜与微细技术教育部重点实验室

出　　处：《机器人》2007年第5期423-427,共5页Robot

基　　金：国家自然科学基金资助项目(60475037);教育部高等学校博士点基金资助项目(20060248057)

摘　　要：介绍了一种尺寸为9 mm×8 mm×8 mm的全方位移动微机器人.采用独特的双轮结构实现了转向时轮与地面的纯滚动.该微机器人由3个直径2 mm的电磁微马达驱动;其中2个用于直线驱动,另一个用于转向.动力学分析揭示了微马达驱动力矩与双轮结构尺寸及各种摩擦之间的关系.仿真计算及实验表明微机器人具有良好的负载能力,满足微型工厂中搬运工作的要求.An omnidirectional mobile mierorobot with a size of 9 mm × 8 mm × 8 mm is introduced. Pure rolling movement between the wheels and the ground are achieved with a novel dual-wheel structure. The microrobot is driven by three electromagnetic mieromotors with 2 mm diameter. Two of the micromotors are for translation and the other one is for steering. Dynamics is analyzed to unveil the relation between the micromotor torque and the dual-wheel structure size as well as various frictions, Simulation and experiment results demonstrate that the microrobot has good load-carrying ability and satisfies the requirements of handling task in a microfactory.

关 键 词：移动微机器人 全方位 微马达 微工厂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]