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题名: Development of a high resolution wireless mobile microrobot
作者: Zhu T(朱涛) ; Tan DL(谈大龙) ; Zhang JB(张江波)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期: October 8-13, 2003
会议地点: Changsha, China
会议主办者: Chinese High tech Dev Program, Chinese Acad Sci, Chinese Soc Automat, IEEE Syst, Man & Cybernet Soc, Chinese Univ Hong Kong, Natl Univ Def Technol, IEEE Hong Kong RA & CS Joint Chapter, Joint Ctr Intelligen Sensing & Syst, Sch Elect Sci & Engn, Sch Mechatron Engn & Automat
会议录: 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2003
页码: 710-714
收录类别: CPCI(ISTP)
ISBN号: 0-7803-7925-X
关键词: piezoelectric ; mobile microrobot ; wireless
摘要: The paper describes a novel mobile microrobot based on deformations of piezoelectric elements. Three drive units are involved in this microrobot system, each consists of two piezoelectric elements. Different from existing microrobots, the mechanism uses rolling frictional forces instead of sliding frictional forces for actuation. With the three legs arrange around a circle every 120 degree, the microrobot can achieve translation along any direction, or rotate round its center on the plane. Besides, it is easy to get a motion in vertical direction by extending or contracting all piezo elements simultaneously. Based on this driving principle, the authors have developed some prototypes with high resolution. Since there are some drawbacks with these microrobots with wires, a wireless version is under developing. With the help of displace and force sensors, semi-automated micromanipulation can be obtained. The paper particularly discusses the microrobot structure, driving principle, and its teleoperation system.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8652
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
朱涛; 谈大龙; 张江波.Development of a high resolution wireless mobile microrobot.见:IEEE .2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS,NEW YORK,2003,710-714
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