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基于电磁微马达的移动微机器人驱动控制 被引量:1

Drive and Control for Electromagnetic Micromotor-Based Mobile Microrobot
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摘要 介绍一种基于MEMS技术制作的电磁微马达驱动的毫米级移动微机器人及其控制方案。该微型机器人体积为 9.5mm× 9.5mm× 9.5mm ,共有 3个微马达 ,两个用于轮子驱动 ,另外一个通过 3∶1的减速装置来控制微机器人全方位转动。微马达的直径只有 5mm ,是由微细加工工艺制作的。文中设计了一种新颖的控制电路 ,其核心使用微控制器 (MCU)AT90S85 15 ,通过键盘可以实现微机器人前进、后退、左转、右转和加速、减速 6种动作 。 A micrometer-size microrobot driven by electromagnetic micromotor which is fabricated by MEMS technology is presented and solutions to control the small microrobot are described.Its volume is 9.5 mm×9.5 mm×9.5 mm,and it includes three micromotors (5 mm in diameter) fabricated by micromachining and assembled manually.Two of them are used to actuate the wheels of microrobot.The other one controls the direction of wheels.In order to increase the torque and improve the rotational precision of direction micromotor,reduction gears,which have a reduction ratio of 3∶1,are assembled to change microrobot direction.And a novel closed control system of microrobot is described.The heart of drive circuit is MCU AT90S8515,which implements algorithm that allows the microrobot moves forward,backward and turns left,right or speeds up,slows down.Besides,control algorithm for micromotors is designed to realize the microrobot performance.
出处 《测控技术》 CSCD 2003年第2期19-22,共4页 Measurement & Control Technology
基金 国家自然科学基金重点项目 ( 698895 0 1)
关键词 电磁微马达 移动微机器人 驱动控制 微电子机械系统 微控制器 机器人学 electromagnetic micromotor microrobot MEMS drive and control
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参考文献5

  • 1[1]Dario P,Carrozza M C,Stefanini C,and D'Attanasio S.A mobile microrobot actuated by a new electromagnetic wobble micromotor[J].IEEE/ASME Transactions on Mechatronics,1998,3(1):9-16.
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同被引文献3

  • 1Dario P, Carrozza M.C, Lencioni L, Magnani B,D'Attanasio S. A microrobotic system for colonoscopy.Robotics and Automation,Proceedings, 1997 IEEE International Conference on, Vol 2, Apr 1997: 1567-1572,20-25.
  • 2Mardanov A, Seyfried J, Fatikow S. An automated assembly system for a microassembly station. Computer in Industry , 1999, 38: 93-102.
  • 3AN1088:L6234 three phase motor driver. ST datasheet,1998.12.

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