In this research we propose a novel inchworm robot, which is composed of an Electromagnetic Oscillatory Actuator （EOA） and claws. The EOA consists of a yoke, a magnet, and a coil. The overall robot size is 12.2 mm x...In this research we propose a novel inchworm robot, which is composed of an Electromagnetic Oscillatory Actuator （EOA） and claws. The EOA consists of a yoke, a magnet, and a coil. The overall robot size is 12.2 mm x 11 mm x 9 mm （length x height ~ width）. The locomotion of the robot is achieved by different amounts of slips when the robot stretches and contracts its front leg. To realize locomotion, the working conditions were calculated theoretically and the calculated input signal was applied to the robot. The performance of the inchworm robot was evaluated experimentally with varying input voltages and frequencies. A simple op-amps based driving circuit was used to provide a square-wave input. Travel speed, average distance per step of the robot, and moving distance of the leg and body at each step were measured. The maximum travel speed was 36 mm-s-1 at 30 Hz, which validates our simple locomotion strategy experimentally.展开更多
There have been many studies on the moving mechanism of micro robots, such as stick-slip, inchworm like motion, and impact drive. Novel actuators like lead zirconate titanate （PZT）, Shape Memory Alloy （SMA）, magne...There have been many studies on the moving mechanism of micro robots, such as stick-slip, inchworm like motion, and impact drive. Novel actuators like lead zirconate titanate （PZT）, Shape Memory Alloy （SMA）, magnetostrictive materials, electromagnetic actuators, electoractive polymers, ultrasonic linear motors, and dielectric elastomers are utilized to realize the moving mechanism. The use of a conventional electromagnetic actuator is unfavorable, because of a few drawbacks, such as generation of stray magnetic fields, hard to miniaturize to the millimeter scale because of 3D integration and a scaling law, and power consumption to maintain a certain position. This research presents a micro robot that uses an electromagnetic actuator customized and developed for micro robot. The electromagnetic actuator is designed from a Brushless Direct Current （BLDC） motor to overcome the drawbacks mentioned above. The developed robot is composed of two electromagnetic actuators. The overall size of the robot is 20 mm × 11 mm× 9 mm （length × height × width） and the weight is 3 g. The developed robot is able to move bidirectionally with a maximum moving speed of 15.76 mm·s︿-1 （0.79 body-length per second）. The optimal conditions of an input signal are calculated theoretically and verified with experiments.展开更多
文摘In this research we propose a novel inchworm robot, which is composed of an Electromagnetic Oscillatory Actuator （EOA） and claws. The EOA consists of a yoke, a magnet, and a coil. The overall robot size is 12.2 mm x 11 mm x 9 mm （length x height ~ width）. The locomotion of the robot is achieved by different amounts of slips when the robot stretches and contracts its front leg. To realize locomotion, the working conditions were calculated theoretically and the calculated input signal was applied to the robot. The performance of the inchworm robot was evaluated experimentally with varying input voltages and frequencies. A simple op-amps based driving circuit was used to provide a square-wave input. Travel speed, average distance per step of the robot, and moving distance of the leg and body at each step were measured. The maximum travel speed was 36 mm-s-1 at 30 Hz, which validates our simple locomotion strategy experimentally.
文摘There have been many studies on the moving mechanism of micro robots, such as stick-slip, inchworm like motion, and impact drive. Novel actuators like lead zirconate titanate （PZT）, Shape Memory Alloy （SMA）, magnetostrictive materials, electromagnetic actuators, electoractive polymers, ultrasonic linear motors, and dielectric elastomers are utilized to realize the moving mechanism. The use of a conventional electromagnetic actuator is unfavorable, because of a few drawbacks, such as generation of stray magnetic fields, hard to miniaturize to the millimeter scale because of 3D integration and a scaling law, and power consumption to maintain a certain position. This research presents a micro robot that uses an electromagnetic actuator customized and developed for micro robot. The electromagnetic actuator is designed from a Brushless Direct Current （BLDC） motor to overcome the drawbacks mentioned above. The developed robot is composed of two electromagnetic actuators. The overall size of the robot is 20 mm × 11 mm× 9 mm （length × height × width） and the weight is 3 g. The developed robot is able to move bidirectionally with a maximum moving speed of 15.76 mm·s︿-1 （0.79 body-length per second）. The optimal conditions of an input signal are calculated theoretically and verified with experiments.
