A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect
To fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. To finish the micron size task, the positioning precision of the robot is highly important. But some unpredictable factors, especially the slip effect in wheel, would affect the precision of the robot...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2010-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/a-magnetic-wheel-structure-for-an-omni-directional-microrobot-to-limit-slip-effect |
| _version_ | 1818778357602451456 |
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| author | Yiliang Jin Jiapin Chen Zhenbo Li |
| author_facet | Yiliang Jin Jiapin Chen Zhenbo Li |
| author_sort | Yiliang Jin |
| collection | DOAJ |
| description | To fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. To finish the micron size task, the positioning precision of the robot is highly important. But some unpredictable factors, especially the slip effect in wheel, would affect the precision of the robot and cause unwanted deviation. To limit the deviation and optimize the positioning performance of the robot, a new wheel structure is designed. The design of the new wheel is based on magnetic principle while considering the potential problems brought by the magnetic units. With nonlinear dynamic analysis with slip of the microrobot and simulations based on it, the slippage effect is shown to be limited a lot with the application of new wheel structure. And following experiments are executed to verify the optimization brought by the magnetic wheel structure. |
| first_indexed | 2024-12-18T11:43:26Z |
| format | Article |
| id | doaj.art-e45df1168d3b4cac9eec586e9e28a5f0 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-18T11:43:26Z |
| publishDate | 2010-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-e45df1168d3b4cac9eec586e9e28a5f02022-12-21T21:09:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142010-02-0164A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip EffectYiliang JinJiapin ChenZhenbo LiTo fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. To finish the micron size task, the positioning precision of the robot is highly important. But some unpredictable factors, especially the slip effect in wheel, would affect the precision of the robot and cause unwanted deviation. To limit the deviation and optimize the positioning performance of the robot, a new wheel structure is designed. The design of the new wheel is based on magnetic principle while considering the potential problems brought by the magnetic units. With nonlinear dynamic analysis with slip of the microrobot and simulations based on it, the slippage effect is shown to be limited a lot with the application of new wheel structure. And following experiments are executed to verify the optimization brought by the magnetic wheel structure.http://www.intechopen.com/articles/show/title/a-magnetic-wheel-structure-for-an-omni-directional-microrobot-to-limit-slip-effectomnidirectional microrobot for microassembly; high precision; magnetic wheel structure; dynamic analysis with slip; |
| spellingShingle | Yiliang Jin Jiapin Chen Zhenbo Li A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect International Journal of Advanced Robotic Systems omnidirectional microrobot for microassembly; high precision; magnetic wheel structure; dynamic analysis with slip; |
| title | A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect |
| title_full | A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect |
| title_fullStr | A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect |
| title_full_unstemmed | A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect |
| title_short | A Magnetic Wheel Structure for an Omni-directional Microrobot to Limit Slip Effect |
| title_sort | magnetic wheel structure for an omni directional microrobot to limit slip effect |
| topic | omnidirectional microrobot for microassembly; high precision; magnetic wheel structure; dynamic analysis with slip; |
| url | http://www.intechopen.com/articles/show/title/a-magnetic-wheel-structure-for-an-omni-directional-microrobot-to-limit-slip-effect |
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