| International Journal of Advanced Robotic Systems | |
| An Omnidirectional Mobile Millimeters Size Micro-Robot with Novel Duel-Wheels | |
| 关键词: Micro-robot; duel-wheel; micromotor; current control; | |
| DOI : 10.5772/5731 | |
| 学科分类：自动化工程 | |
| 来源: InTech | |
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【 摘 要 】
A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotation. Kinematics model is analyzed to prove the omni-directional mobility. Virtual-Winding Approach (VWA) and PWM-Based Vector-Synthesize Approach(PBVSA) current control methods are presented to satisfy a requirement of higher positioning accuracy. Experimental results demonstrate the feasibility of this concept.
【 授权许可】
CC BY
【 预 览 】
| Files | Size | Format | View |
|---|---|---|---|
| RO201902187570970ZK.pdf | 861KB |  download |
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