Structure of microrobots using electromagnetic actuators

Torii, Akihiro; Koyanagi, Takuya; Ueda, Atsushi

doi:10.1109/mhs.1999.820011

Cited by 6 publications

(1 citation statement)

References 3 publications

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“…Inchworm motion principle was often used by these robots, in which electromagnetism phenomena was utilized. TORII developed Y-shaped and ¨-shaped microrobots [8], which used three electromagnets and three PZTs, and reached a resolution of less than 1 ȝm in the linear displacement and less than 1 ȝrad in the rotational displacement. Zhu introduced a microrobotbased microassembly system which was composed of small precise mobile stage, flexible microrobots, light microscope, visual feedback system, and control system [9].…”

Section: Introductionmentioning

confidence: 99%

An Improved Path Following Method for a Piezo-Driven Miniature Robot Based on Temporary Path Planning

Tian

et al. 2012

2012 International Conference on Computer Distributed Control and Intelligent Environmental Monitoring

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This paper studied the path following case of a PZTdriven electromagnetic miniature robot which was used as a locomotion platform in a "Desktop Micro Robots Factory". To avoid the wire wound-up problem of the former method which happened because of an in-situ rotation of the robot, an improved method was proposed based on temporary path planning. The nonlinearity of the locomotive characteristics according to the difference equation describing the position and orientation changes of the robot was introduced, which was then used in the simulation. The proposed generating path was composed of two arcs and a line with directional information, which aimed at a smoothly joining the desired path at some specified point. Together with a conventional fuzzy logic controller, tracking performance was preferred.

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Section: Introductionmentioning

confidence: 99%

An Improved Path Following Method for a Piezo-Driven Miniature Robot Based on Temporary Path Planning

Tian

et al. 2012

2012 International Conference on Computer Distributed Control and Intelligent Environmental Monitoring

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A 3-D.O.F. high precision mobile positioning microrobot

Chen

Sun

IEEE International Conference Mechatronics and Automation, 2005

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Using piezoelectric ceramic stacks (PZT) as micro driving elements, a 3-D.O.F high precision mobile positioning microrobot based on the inch-worm driving principle is designed in this paper. Kinematics and dynamics of the microrobot are all analyzed to enhance characteristics of the microrobot. Finite element method is also used to analyzed the flexible hinger to ensure the microrobot move and position better. In order to test characteristics of the designed microrobot, a microscope is used to measure the picture elements of the microrobot when in micro mobile positioning in the experiments. The experimental results prove the design is reasonable and practicable.

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A high precise mobile positioning microrobot with macro/micro drivers

Chen

Li²,

Sun³

IEEE International Conference on Mechatronics, 2005. ICM '05.

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Structure of microrobots using electromagnetic actuators

Cited by 6 publications

References 3 publications

An Improved Path Following Method for a Piezo-Driven Miniature Robot Based on Temporary Path Planning

An Improved Path Following Method for a Piezo-Driven Miniature Robot Based on Temporary Path Planning

A 3-D.O.F. high precision mobile positioning microrobot

A high precise mobile positioning microrobot with macro/micro drivers

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