Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering
This study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristics of the magnetic wheels were measured using an e...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-06-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/10/6/379 |
| _version_ | 1830483769840107520 |
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| author | Munehisa Takeda Isao Shimoyama |
| author_facet | Munehisa Takeda Isao Shimoyama |
| author_sort | Munehisa Takeda |
| collection | DOAJ |
| description | This study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristics of the magnetic wheels were measured using an evaluation apparatus built for this purpose. A simulation program for driving performance was developed as well. Simulations indicated that the turning characteristics of the skid-steered wheeled microrobot degrade because the gripping force decreases due to the decrease in weight with decreasing size. However, the turning characteristics of a skid-steered microrobot can be improved with the magnetic attraction of magnetic wheels. A 5 mm × 9 mm × 6.5 mm skid-steered microrobot with four magnetic wheels was fabricated, and the measured performance was consistent with the simulation results. The differences in driving performance were clarified between a microrobot with column-type magnetic wheels and one with barrel-type magnetic wheels, as well as between forward and backward motion. |
| first_indexed | 2024-12-21T17:58:03Z |
| format | Article |
| id | doaj.art-306618f8ca0440fbbb901b204285d653 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-12-21T17:58:03Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-306618f8ca0440fbbb901b204285d6532022-12-21T18:55:08ZengMDPI AGMicromachines2072-666X2019-06-0110637910.3390/mi10060379mi10060379Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-SteeringMunehisa Takeda0Isao Shimoyama1MEMS System Development Center, Micromachine Center, Tokyo 101-0026, JapanToyama Prefectural University, Imizu 939-0398, JapanThis study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristics of the magnetic wheels were measured using an evaluation apparatus built for this purpose. A simulation program for driving performance was developed as well. Simulations indicated that the turning characteristics of the skid-steered wheeled microrobot degrade because the gripping force decreases due to the decrease in weight with decreasing size. However, the turning characteristics of a skid-steered microrobot can be improved with the magnetic attraction of magnetic wheels. A 5 mm × 9 mm × 6.5 mm skid-steered microrobot with four magnetic wheels was fabricated, and the measured performance was consistent with the simulation results. The differences in driving performance were clarified between a microrobot with column-type magnetic wheels and one with barrel-type magnetic wheels, as well as between forward and backward motion.https://www.mdpi.com/2072-666X/10/6/379microrobotmagnetic wheelslipmagnetic attractionturning characteristicsskid-steered |
| spellingShingle | Munehisa Takeda Isao Shimoyama Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering Micromachines microrobot magnetic wheel slip magnetic attraction turning characteristics skid-steered |
| title | Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering |
| title_full | Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering |
| title_fullStr | Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering |
| title_full_unstemmed | Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering |
| title_short | Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering |
| title_sort | slip and magnetic attraction effects in a microrobot with magnetic wheels and skid steering |
| topic | microrobot magnetic wheel slip magnetic attraction turning characteristics skid-steered |
| url | https://www.mdpi.com/2072-666X/10/6/379 |
| work_keys_str_mv | AT munehisatakeda slipandmagneticattractioneffectsinamicrorobotwithmagneticwheelsandskidsteering AT isaoshimoyama slipandmagneticattractioneffectsinamicrorobotwithmagneticwheelsandskidsteering |