A microstep control approach for a millimeter-sized omni-directional mobile microrobot actuated by 3-mm-electromagnetic micromotors

Authors:
Jianghao Li;Zhenbo Li;Jiapin Chen
Affiliations:
Key lab. for thin film and microfabrication of ministry of education, res. inst. of micro and nano sci. and technol., shanghai jiaotong univ., shanghai and coll. of info. sci. and eng., yanshan un ...;Key laboratory for thin film and microfabrication of ministry of education, research institute of micro and nano science and technology, shanghai jiaotong university, shanghai 200030, china;Key laboratory for thin film and microfabrication of ministry of education, research institute of micro and nano science and technology, shanghai jiaotong university, shanghai 200030, china
Venue:
Robotica
Year:
2009

Citing 2
Cited 1

Fundamental Principles and Issues of High-speed Piezoactuated Three-legged Motion for Miniature Robots Designed for Nanometer-scale Operations

International Journal of Robotics Research
Development of inertia driven micro robot with nano tilting stage for SEM operation

Microsystem Technologies - ASME-ISPS/JSME-IIP joint conference on Micromechatronics for Information and Precision Equipment, Santa Clara, California, USA, 2006

Microassembly path planning using reinforcement learning for improving positioning accuracy of a 1 cm3 omni-directional mobile microrobot

Applied Intelligence

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a novel microstep control approach for improving the positioning precision of a millimeter-sized omni-directional mobile microrobot. The microrobot that is designed for microassembly in a microfactory is driven by three electromagnetic micromotors. The structures of both the microrobot and the micromotor are described in the paper. The torque vectors synthesis method (TVSM) is developed and the torque self-balance principle (TSBP) is employed to realize the microstep control. The control circuit that needs a complex digital logic is devised with a complex programmable logic device (CPLD). The experiments using a hard disk and the real microrobot demonstrated the validity and performance of TVSM and TSBP. And the angular step precision of the microrobot is increased by three times compared to the normal control.