毫米级全方位微机器人结构设计与控制对运动精度的影响  

Influence of structure design and control on movement precision of millimeter-scale omni-directional mobile microrobot

作　　者：李江昊[1] 陈佳品[2] 李振波[2] 

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]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,上海200030

出　　处：《光学精密工程》2008年第6期1056-1062,共7页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划基金资助项目(No.2007AA04Z340);国家自然科学基金资助项目(No.60475037);教育部博士点基金资助项目(No.20060248057)

摘　　要：研究了用于微装配操作的毫米级全方位微机器人,重点分析了影响其运动精度的结构设计与控制方法。指出了结构设计的优点和不足,主要涉及传动系统、轮子的安装等;控制方法主要涉及路径规划和驱动器电磁微马达等。提出了对工作区域进行分区的路径规划控制方法,解决了微机器人直线运动的非线性问题。针对电磁微马达的结构特点,提出了矢量合成、力矩自平衡等特殊的控制方法和思想,将微机器人步进运动精度较常规控制方法提高了3倍。实验结果表明,微机器人能够准确运动到微装配目标区域,运动精度达到0.07 mm/step,基本满足微装配的应用要求。An omni-directional mobile microrobot for microassembly in a microfactory was presented. The microrobot was less than one cubic centimeter in size, and was driven by four electromagnetic mieromotors with 3 mm diameter. The two important aspects for the microrobot precision,the structure design and control methods were analyzed. The structure design included the transmission system and the wheel fabrication and the control methods included the path planning and electromagnetic micro-motor. In order to eliminate the drawbacks of microrobot structure, several nove control methods and ideas including the path planning and micromotor control were introduced. This path planning method was designed to solve the nonlinear problem of the microrobot during translational movement. Moreover,according to the structure constraint of the electromagnetic micromotor,the vector synthesis control of the torque was presented and the torque self-balance characteristic was utilized to improve the microrobot precision. Experimental results show that the microrobot can achieve 0.07 mm/step during translation,and 0.83°/step during steering, which is three times that of the common control method. The microassembly experiments demonstrate the validity of these microrobot control methods, which shows the microrobot can satisfy the application requirements of microassembly.

关 键 词：移动微机器人 微装配 微马达 运动精度 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]