Study of a Brush-Type Micro-Robot Using Micro Coreless Motor
Department of Mechanical Systems Engineering, Faculty of Engineering, Kinki University, 1 Takaya Umenobe Higashihiroshima, Hiroshima 739-2116, Japan
This paper deals with a new brush-Type micro-robot using micro coreless motor. Though many mobile microrobots using PZT elements generally require some highvoltage amplifiers with electric cable lines, making it little difficult for the mobile microrobot to move about on long, thin pipes. The present micro-robot consists of many brush fibers, two coreless motors and an electric cell. The coreless motors with eccentric weights can generate centrifugal forces transmitted to the elastic brush fibers driving the microrobot. A basic mathematical model of the micro mobile robot using centrifugal forces is derived. Simple prototypes are developed, and high velocity is examined by experiments. The validity of the proposed mathematical mode was examined by way of the comparision of simulated and experimental results.
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