文章基本信息

标题：A Magnetic Wheel Structure for an Omni-Directional Microrobot to Limit Slip Effect
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作者：Yiliang Jin ; Jiapin Chen ; Zhenbo Li 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2009
卷号：6
期号：4
DOI：10.5772/7259
出版社：SAGE Publications
摘要：To fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. To finish the micron size task, the positioning precision of the robot is highly important. But some unpredictable factors, especially the slip effect in wheel, would affect the precision of the robot and cause unwanted deviation. To limit the deviation and optimize the positioning performance of the robot, a new wheel structure is designed. The design of the new wheel is based on magnetic principle while considering the potential problems brought by the magnetic units. With nonlinear dynamic analysis with slip of the microrobot and simulations based on it, the slippage effect is shown to be limited a lot with the application of new wheel structure. And following experiments are executed to verify the optimization brought by the magnetic wheel structure.
关键词：omnidirectional microrobot for microassembly ; high precision ; magnetic wheel structure ; dynamic analysis with slip