Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot; preliminary experiments and experiments in turning control)

In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. To date, the authors' research group has been studying a locomotion mechanism and control method for an electromagnet-type microrobot, which has a volume of 1[cm 3 ]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the feature of the locomotion mechanism and control method. We report on some experimental results to confirm the fundamental function of the wireless remote control method proposed.

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Design and analysis of a novel micro-robot driving platform

Jia-Chen

Wang

Zhang

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a design of a micro-robot driving platform that can perform two-dimensional motions on the horizontal plane using only one single vibration motor. This device uses the centrifugal force and the friction force between the horizontal supporting plane and the device as the driving force. The device has the advantages of simple structure, miniaturization and low cost and it is easy to hermetic seal. It could be used in the small space and the environment that requires good hermetic sealing performance of the device. In this paper, the dynamic analysis of the device is carried out and the experiment results verified the correctness of the analysis and the feasibility of the design above, and the motion of the device is proved controllable.

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot; preliminary experiments and experiments in turning control)

Cited by 3 publications

References 7 publications

Wireless remote control for a vibration-driven electromagnet-type moving microrobot (Fabrication of third prototype microrobot and experimental results for straight running and turning)

Wireless remote control for a vibration-driven electromagnet-type moving microrobot (Fabrication of third prototype microrobot and experimental results for straight running and turning)

Wireless remote control for an electromagnet-type moving microrobot (fabrication of prototype microrobot and experimental results)

Design and analysis of a novel micro-robot driving platform

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