TY - GEN
T1 - A novel macro/micro dual driving miniature mobile robot for precision manipulation
AU - Qin, Lei
AU - Li, Mantian
AU - Sun, Lining
AU - Ji, Junhong
PY - 2005
Y1 - 2005
N2 - This paper describes a novel dual moving miniature mobile robot facing on precision manipulation and its wireless control system. This robot is composed of moving allocation unit based on macro/micro dual moving manner and spherical manipulator with three degrees of freedom. The whole robot occupies a volume of 60mm × 50mm × 50mm. In the macro-moving manner, using the SMOOVY (a company in Switzerland) motor with the diameter of 3mm, the robot can move with a high speed of 100 mm/s. And the positioning accuracy is up to 0.5mm with the motion resolution of 0.1mm. In the micro moving manner, with the principle of inchworm, the robot can move at a speed of 0.2mm/s with 50 μ m positioning accuracy and 2 μ m resolution. Three pizeo-ceramic tubes based on the principle of stick-slip drive the spherical manipulator. The manipulator can rotate around z-axis and move up and down. The accuracy of spherical manipulator is 0.001 degree. All driving circuits are integrated in the body of robot. Two polymeric Lithium-metal cells are selected as the power supply. The robot communicates with the image processing system through a blue tooth model. For convenient control, the locomotion of robot is divided into several simple motion modes. By applying the multiple threads technology to program, real time control is achieved.
AB - This paper describes a novel dual moving miniature mobile robot facing on precision manipulation and its wireless control system. This robot is composed of moving allocation unit based on macro/micro dual moving manner and spherical manipulator with three degrees of freedom. The whole robot occupies a volume of 60mm × 50mm × 50mm. In the macro-moving manner, using the SMOOVY (a company in Switzerland) motor with the diameter of 3mm, the robot can move with a high speed of 100 mm/s. And the positioning accuracy is up to 0.5mm with the motion resolution of 0.1mm. In the micro moving manner, with the principle of inchworm, the robot can move at a speed of 0.2mm/s with 50 μ m positioning accuracy and 2 μ m resolution. Three pizeo-ceramic tubes based on the principle of stick-slip drive the spherical manipulator. The manipulator can rotate around z-axis and move up and down. The accuracy of spherical manipulator is 0.001 degree. All driving circuits are integrated in the body of robot. Two polymeric Lithium-metal cells are selected as the power supply. The robot communicates with the image processing system through a blue tooth model. For convenient control, the locomotion of robot is divided into several simple motion modes. By applying the multiple threads technology to program, real time control is achieved.
KW - Dual driving
KW - Miniature mobile robot
KW - Nano-manipulation
KW - Wireless communication
UR - https://www.scopus.com/pages/publications/27744536860
M3 - 会议稿件
AN - SCOPUS:27744536860
SN - 0780390458
T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005
SP - 1859
EP - 1862
BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005
T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005
Y2 - 29 July 2005 through 1 August 2005
ER -