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High-Accuracy Locomotion Control Method for Automatic Docking between Mobile Self-Reconfigurable Microrobots

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Abstract:

A mobile self-reconfigurable microrobot actuated by MEMS-based electromagnetic micromotors is presented. Normal stepping control methods for electromagnetic micromotor are introduced. To improve the locomotion accuracy of the microrobot and the efficiency of automatic docking between them more, a Changeable Virtual Winding Method (CVWM) for high-accuracy microstepping control is developed. Experimental results demonstrate the feasibility of the concept.

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Periodical:

Applied Mechanics and Materials (Volumes 347-350)

Pages:

143-147

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.347-350.143

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Online since:

August 2013

Authors:

Da Wei Zhang, Ling Mao, Xiao Ning Tang, Zhen Bo Li, Jia Pin Chen

Keywords:

Docking, Electromagnetic Micromotor, Microrobot, Microstepping, Self-Reconfiguration

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© 2013 Trans Tech Publications Ltd. All Rights Reserved

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