分散形マイクロロボットシステムに関する研究 : 第3報,非接触エネルギー供給システムを用いたマイクロ移動ロボットシステム

抄録

This paper deals with the Micro Optical Robotic System (MORS) with cordless optical power supply system. The MORS is the robotic system, which utilizes the concept of the Micro Cellular Robotic System (μ-CEBOT). The purposes of developing the MORS are to develop the prototype of μ-CEBOT and to solve the problems such as the friction and the power supply which hinder the development of the micro electro mechanical systems. The MORS consists of a floating robot and an air table : the former is driven by the cordless optical power supply system, and the latter works as the air bearing. The optical power supply system converts from the optical energy to electrical energy using the pyroelectric element. The optical power supply system generates the electric voltage, and the electric voltage generates the electrostatic force between the electrodes of the robot and the blocks of the air table, which work as the electrodes. The electrostatic force generated drives the robot above the table. In this paper, we propose the design of the MORS, and show the mathematical model of MORS and the some experimental results.