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A microstep control approach for a millimeter-sized omni-directional mobile microrobot actuated by 3-mm-electromagnetic micromotors

Published online by Cambridge University Press:  30 October 2008

Jianghao Li ,
Zhenbo Li  and
Jiapin Chen
Jianghao Li
Affiliation:
Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiaotong University, Shanghai 200030, China College of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China
Zhenbo Li
Affiliation:
Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiaotong University, Shanghai 200030, China
Jiapin Chen*
Affiliation:
Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiaotong University, Shanghai 200030, China
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a novel microstep control approach for improving the positioning precision of a millimeter-sized omni-directional mobile microrobot. The microrobot that is designed for microassembly in a microfactory is driven by three electromagnetic micromotors. The structures of both the microrobot and the micromotor are described in the paper. The torque vectors synthesis method (TVSM) is developed and the torque self-balance principle (TSBP) is employed to realize the microstep control. The control circuit that needs a complex digital logic is devised with a complex programmable logic device (CPLD). The experiments using a hard disk and the real microrobot demonstrated the validity and performance of TVSM and TSBP. And the angular step precision of the microrobot is increased by three times compared to the normal control.

Keywords

Microstep controlOmni-directionMobile microrobotElectromagnetic micromotor
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 813 - 824
Copyright
Copyright © Cambridge University Press 2008

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