Design of an omni-directional mobile microrobot (OMMR-I) for a micro-factory with 2 mm electromagnetic micromotors

摘要

In this paper, the design and control of an omni-directional mobile microrobot are described for micro-assembling in a micro-factory. A unique locomotion mechanism composed of three special castors units is proposed. The castor consists of two coaxial conventional wheels, connected to the chassis and connected with each other by a set micro-gears. The microrobot is approximately 8 mm in length, 6 mm in width and 6 mm in height. Its kinematics and characteristics are analyzed. Experimental results from a prototype of a microrobot are presented, which demonstrates the feasibility of building an omni-directional microrobot with micromotor and special castors.