single-rb.php

JRM Vol.24 No.1 pp. 158-164
doi: 10.20965/jrm.2012.p0158
(2012)

Paper:

Moving Mechanism of and Control Method for a Vibration-Driven Electromagnet-Type Microrobot (Mathematical Model of Microrobot Running Straight, Investigations of Characteristics of Microrobot Running Straight and Turning by Simulation and Experiments)

Masahiro Isogai* and Toshio Fukuda**

*Aichi University of Technology, 50-2 Manori, Nishihazamacho, Gamagori, Aichi 443-0047, Japan

**Nagoya University, Furocho, Chikusaku, Nagoya 464-8603, Japan

Received:
March 28, 2011
Accepted:
August 19, 2011
Published:
February 20, 2012
Keywords:
microrobot, electromagnet coil, permanent magnet, vibration
Abstract

Large numbers of studies have focused on microrobots and numerous contests are held annually to develop microrobot technologies. These activities have resulted in that various types of microrobots have been proposed. They include motor, piezoelectric-element, and electromagnet microrobots. We consider a mechanism of movement and a method of control for an electro-magnet microrobot that both runs in a straight line and turns using a single electromagnet coil by adjusting the direction of the robot’s permanent magnets and the input voltage applied to the electromagnet coil. The microrobot’s straight running forward is modeled mathematically and its motion features are studied on horizontal and inclined planes through simulation and some experiments. In addition, turning characteristics is studied using an experiment.

Cite this article as:
Masahiro Isogai and Toshio Fukuda, “Moving Mechanism of and Control Method for a Vibration-Driven Electromagnet-Type Microrobot (Mathematical Model of Microrobot Running Straight, Investigations of Characteristics of Microrobot Running Straight and Turning by Simulation and Experiments),” J. Robot. Mechatron., Vol.24, No.1, pp. 158-164, 2012.
Data files:
References
  1. [1] T. Fukuda et al., “A Study on Micro Mobile Robot (1st Report, Design, Experiment and Mathematical Model of Micro Mobile Robot),” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.59, No.562, pp. 185-192, 1998.
  2. [2] K. Tani, “A Mobile Machine Using Piezo Vibration and Its Friction Model,” J. of the Robotics Society of Japan, Vol.14, No.8, pp. 49-53, 1996.
  3. [3] K. Ioi, “Study on Mobile Micro-Robot using Centrifugal Force,” J. of the Robotics Society of Japan, Vol.17, No.3, pp. 86-91, 1999.
  4. [4] G. Caprari, T. Estier, and R. Siegwart, “Fascination of Down Scaling-Alice the Sugar Cube Robot,” J. of Micro-Mechatronics, Vol.1, pp. 177-189, 2002.
  5. [5] S. Wakimoto et al., “In-Pipe Inspection Micro Robot Adaptable to Changes in Pipe Diameter,” J. of Robotics and Mechatronics, Vol.15, No.6, pp. 609-615, 2003.
  6. [6] M. Isogai and T. Fukuda, “Study on Moving Mechanism and Control of Micro Robot (Characteristics of Straight Running),” The 24th Annual Conf. of Robotics Society of Japan, 2A23, 2006.
  7. [7] M. Homma, “Contest of Climbing Micro Mechanism,” J. of the Japan Society for precision engineering, Vol.57, No.12, pp. 47-48, 1991.
  8. [8] H. Ishihara, “Current and Future Arts of International Micro Robot Maze Contest,” J. of Robotics and Mechatronics, Vol.15, No.6, pp. 655-657, 2003.
  9. [9] H. Endo, “Micromachines Designed and Fabricated for Micromechanism Contest,” J. of Robotics and Mechatronics, Vol.15, No.6, pp. 652-654, 2003.
  10. [10] H. Isihara, “Overview of International Micro Robot Maze Contest 2005,” Proc. of Int. Symposium on Micro-Nano Mechatronics and Human Science, pp. 303-321, 2005.
  11. [11] M. Isogai, “Participation in the International Micro Robot Maze Contest,” Bulletin of Aichi University of Technology, Vol.3, pp. 95-101, 2006.
  12. [12] Society for the study on actuators, “New actuator aiming at micro,” Kogyo Chosakai Publishing, pp. 157-159, 1994.
  13. [13] R. Siegwart and I. R. Nuorbakhsh, “Introduction to Autonomous Mobile Robots,” The MIT Press, pp. 8-9, 2004.
  14. [14] T. Soejima and K. Horiuchi, “Electromagnetic Theory,” CORONA Publishing, p. 230, 1984.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Sep. 24, 2021