基于电磁微马达的移动微机器人驱动控制  

Drive and Control for Electromagnetic Micromotor-Based Mobile Microrobot

作　　者：刘发明[1] 陈佳品[1] 张琛[1] 

机构地区：[1]上海交通大学信息存储研究中心,上海200030

出　　处：《测控技术》2003年第2期19-22,共4页Measurement & Control Technology

基　　金：国家自然科学基金重点项目 ( 698895 0 1)

摘　　要：介绍一种基于MEMS技术制作的电磁微马达驱动的毫米级移动微机器人及其控制方案。该微型机器人体积为 9.5mm× 9.5mm× 9.5mm ,共有 3个微马达 ,两个用于轮子驱动 ,另外一个通过 3∶1的减速装置来控制微机器人全方位转动。微马达的直径只有 5mm ,是由微细加工工艺制作的。文中设计了一种新颖的控制电路 ,其核心使用微控制器 (MCU)AT90S85 15 ,通过键盘可以实现微机器人前进、后退、左转、右转和加速、减速 6种动作 。A micrometer-size microrobot driven by electromagnetic micromotor which is fabricated by MEMS technology is presented and solutions to control the small microrobot are described.Its volume is 9.5 mm×9.5 mm×9.5 mm,and it includes three micromotors (5 mm in diameter) fabricated by micromachining and assembled manually.Two of them are used to actuate the wheels of microrobot.The other one controls the direction of wheels.In order to increase the torque and improve the rotational precision of direction micromotor,reduction gears,which have a reduction ratio of 3∶1,are assembled to change microrobot direction.And a novel closed control system of microrobot is described.The heart of drive circuit is MCU AT90S8515,which implements algorithm that allows the microrobot moves forward,backward and turns left,right or speeds up,slows down.Besides,control algorithm for micromotors is designed to realize the microrobot performance.

关 键 词：电磁微马达 移动微机器人 驱动控制 微电子机械系统 微控制器 机器人学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]