微型全方位移动机器人的研制

DEVELOPMENT OF MICROROBOT WITH A 2MM ELECTROMAGNETIC MICROMOTOR

本文介绍了采用 2毫米电磁型微马达作为驱动器的移动微型机器人 .其整体尺寸为10 mm× 6 mm× 5mm.作为微型机器人的核心部件 ,微马达采用电磁型轴向磁通结构以获得较大的输出力矩 .该马达的设计创新还在于其控制上可以在不同的阶段采用同步电机和步进电机两种控制方式 .微型机器人的控制器通过超细直径的柔性导线与机械结构相连 ,创新的结构设计使得机器人的转弯半径非常小 ,将导线连接的影响降至极小 .通过算法可以控制该机器人前进、后退、灵活转弯 .本文详细论述了该微机器人的设计、制作、结构部件和性能 .

The paper describes a mobile microrobot incorporating a novel type of electromagnetic micromotor. The overall dimensions of the microrobot are 12mm×8mm×6mm. Two micromotors are used to actuate the two driving wheels. As the key part of microrobot, the micromotor adopts the novel structure which could get larger output torque. Another merit of the microrobot is that it could be controlled in different ways to adapt the different applications. The controller controls the microrobot by flexible ultraminiature wires to move forward and backward, and turn left and right. The design, fabrication, structure, and performance of the microrobot are described in detail in the paper.