A Study on Position Detection and Control System of Self-movable Micro Robot (1st Report)

Construction of Self-movable Micro Robot

Abstract

This papar deals with the construction and motion analysis of a new walking-type micro robot which is to be used in a self-movable micro robot system. The robot (16 mm long-27 mm wide-12 mm high) consists of a "body" holding a permanent magnet to be pulled by magnetic field and "legs (right and left)" with coils and electro-magnets for walking. The motion principle of this robot is similar to a permanent magnet type linear motor. The motion speed and direction of the robot are regulated by controlling the frequency of driving currents supplied to each coils and electromagnets. Robot motions are theoretically formulated using a linear motion model. An experiment verified that real robot motions agree with the theoretical formulation, showing that the robot has high controllability.