A one cubic centimeter mobile microrobot with a steering control

D’Attanasio, S.; Lazzarini, R.; Stefanini, C.; Carrozza, M.C.; Dario, P.

doi:10.1109/iros.1997.656443

Cited by 2 publications

(3 citation statements)

References 10 publications

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“…Figure 1A,B shows the operating principle of the wobble motor in the wobble gripper, which is composed of the stator and rotor. The inner rotor rotates as shown Figure 1A, but the inner stator is fixed, and the external rotor rotates as shown Figure 1B [19][20][21].…”

Section: Driving Principle Of a Wobble Motormentioning

confidence: 99%

Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper

et al. 2020

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An electropermanent magnet (EM) can be fixed or rotated without applying the additional power of a wobble motor. This consists of a neodymium magnet and semi-hard magnet. A model to design a wobble motor for a wobble gripper without finite element analyses and to predict the attraction force according to the permanent magnet and current is necessary. In this paper, a force model is derived using distribution parameter and magnetic circuit analyses, including flux loss and fringing effects. It is not easy to design a complete magnetic circuit model considering the loss effects, but it can be constructed using a relatively straightforward method that simplifies the paths of leaked fluxes into arcs and straight lines. The model was verified by comparing the results of finite element analyses with measurements of two prototypes using internal and external fixed cases. The model properly predicts the attractive force between the rotor and stator and can be used in the initial design of a gripper that holds or rotates with the electropermanent magnet.

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Section: Driving Principle Of a Wobble Motormentioning

confidence: 99%

Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper

et al. 2020

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show abstract

“…The chosen micro actuator is essentially a variable reluctance wobble motor prototyped by the Scuola Superiore S. Anna [10][11][12], called "Pollicino" (or "Tom Thumb"), winner of the 1995 "International Micro Robot Maze Contest" in the "teleoperated mountain climbing micro robot" category. Looking at its main features and theoretical performances ( Table 1) the micromotor seems to be promising for the application as a bending actuator in a swallowable capsule able to bend and attach to other similar capsules to form a more complex device inside the human body.…”

Section: Working Principlementioning

confidence: 99%

“…In the original version of the motor the reactions at the rolling point are supported by contact friction [10][11][12]. To guarantee a sufficient friction coefficient to prevent the slippage between the stator and the rotor a silicone layer of 50 m is applied on the rotor inner surface.…”

Section: Slipmentioning

confidence: 99%