NDLI: Development of a high resolution wireless mobile microrobot

Content Provider	IEEE Xplore Digital Library
Author	Zhu Tao Tan Dalong Zhang Jiangbo
Copyright Year	2003
Description	Author affiliation: Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang, China (Zhu Tao; Tan Dalong; Zhang Jiangbo)
Abstract	The paper describes a novel mobile microrobot based on deformations of piezoelectric elements. Three drive units are involved in this microrobot system, each consists of two piezoelectric elements. Different from existing microrobots, the mechanism uses rolling frictional forces instead of sliding frictional forces for actuation. With the three legs arranged around a circle every 120 degree, the microrobot can achieve translation along any direction, or rotate round its center on the plane. Besides, it is easy to get a motion in vertical direction by extending or contracting all piezo elements simultaneously. Based on this driving principle, the authors have developed some prototypes with high resolution. Since there are some drawbacks with these microrobots with wires, a wireless version is under developing. With the help of displace and force sensors, semi-automated micromanipulation can be obtained. The paper particularly discusses the microrobot's structure, driving principle, and its teleoperation system.
Sponsorship	Chinese High-tech Development Program Chinese Academy of Sci. Chinese Soc. of Automation IEEE Systems, Man and Cybernetics Soc
Starting Page	710
Ending Page	714
File Size	539491
Page Count	5
File Format	PDF
ISBN	078037925X
DOI	10.1109/RISSP.2003.1285671
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wireless sensor networks Friction Prototypes Automatic control Force sensors Robotics and automation Force control Assembly Robots Leg
Content Type	Text
Resource Type	Article

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