Micro mobile robots using electromagnetic oscillatory actuator

Shin, Bu Hyun; Lee, Seung-Yop

doi:10.1109/biorob.2012.6290681

Cited by 11 publications

(3 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…On the downside, VCAs are typically assembled using conventional manufacturing processes, which increases the difficulty and cost of integrating them into mesoscale robots. Examples of VCAs at this scale require tedious hand fabrication, and have either non-linear outputs or high friction [13] [14] [15].…”

Section: Introductionmentioning

confidence: 99%

Planar fabrication of a mesoscale voice coil actuator

Goldberg

Karpelson

Özcan

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Mesoscale robots are devices with characteristic dimensions in the centimeter to millimeter scale, with feature sizes ranging from millimeters to micrometers. Due to the physics involved in scaling down conventional motors, such robots frequently require novel approaches to actuation. Actuation can have a very significant effect on robot performance, particularly at small scales where locomotion becomes energetically expensive; however, existing options for small-scale actuation are quite limited. We present a mesoscale voice coil actuator (VCA) with favorable scaling characteristics and a design that minimizes costly frictional effects at small scales while allowing fast, linear, high-displacement motion. The VCA is fabricated using planar manufacturing techniques, making it well-suited for integration into a number of mesoscale robotic platforms and for mass production. The designed VCA has a mass of 310mg, maximum force of 11.8mN, bandwidth of 51Hz, and a stroke of 4mm.

show abstract

Section: Introductionmentioning

confidence: 99%

Planar fabrication of a mesoscale voice coil actuator

Goldberg

Karpelson

Özcan

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…However, it is generally difficult to apply DC motors to micro robots since they require additional gear reducers to provide desired force and speed. Further, an electromagnetic oscillatory actuator for micro mobile robot is developed with a simple structure [7,8]. This actuator produces oscillatory motion, which is suitable for various micro mobile robots such as tadpole, 2-legged, and 4-legged robots [7].…”

Section: Introductionmentioning

confidence: 99%

Miniaturized Dual Electromagnetic Oscillatory Actuator

Shin¹,

Lee²,

Kim

2014

Advanced Science and Technology Letters

Self Cite

View full text Add to dashboard Cite

Abstract. In this research we propose a miniaturized dual electromagnetic oscillatory actuator. The proposed actuator is a moving magnet type voice coil actuator with two rotating parts. The structure of the actuator is simple, which includes two magnets, a coil, and a yoke. We provide a linear model for the actuator. We then determine torque and restoring constants using finite element simulation. We also present the dynamic characteristics of the actuator.

show abstract

“…However, it is generally difficult to apply DC motors to micro robots since they require additional gear reducers to provide desired force and speed. As a result, the electromagnetic oscillatory actuator for micro mobile robot is developed with a simple structure [9,10]. This actuator produces oscillatory motion, which is suitable for various micro mobile robots such as tadpole, 2-legged, and 4-legged robots [9].…”

Section: Introductionmentioning

confidence: 99%

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Shin¹,

Lee²,

Kim³

2014

IJCA

Self Cite

View full text Add to dashboard Cite

In this research we propose a miniaturized dual electromagnetic oscillatory actuator. The proposed actuator is a moving magnet type voice coil actuator with two rotating parts. The structure of the actuator is simple, which includes two magnets, a coil, and a yoke. We provide a linear model to characterize the actuator. We then determine torque and restoring constants using finite element simulation. We also present the dynamic characteristics of the actuator. We propose several types of legged locomotion using dual electromagnetic oscillatory actuators, which is demonstrated and verified using our legged robot prototypes.

show abstract

Micro mobile robots using electromagnetic oscillatory actuator

Cited by 11 publications

References 25 publications

Planar fabrication of a mesoscale voice coil actuator

Planar fabrication of a mesoscale voice coil actuator

Miniaturized Dual Electromagnetic Oscillatory Actuator

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Contact Info

Product

Resources

About