A 3-D.O.F. high precision mobile positioning microrobot

Author

Hai-chu, Chen ; Man-tian, Li ; Li-Ning, Sun

Author_Institution

Robotics Inst., Harbin Inst. of Technol., China

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

1854

Abstract

Using piezoelectric ceramic stacks (PZT) as micro driving elements, a 3-D.O.F high precision mobile positioning microrobot based on the inch-worm driving principle is designed in this paper. Kinematics and dynamics of the microrobot are all analyzed to enhance characteristics of the microrobot. Finite element method is also used to analyzed the flexible hinger to ensure the microrobot move and position better. In order to test characteristics of the designed microrobot, a microscope is used to measure the picture elements of the microrobot when in micro mobile positioning in the experiments. The experimental results prove the design is reasonable and practicable.

Keywords

finite element analysis; microrobots; mobile robots; piezoceramics; position control; robot dynamics; robot kinematics; finite element method; high precision mobile positioning microrobot; inch-worm driving principle; micro driving elements; microrobot dynamics; microrobot kinematics; piezoelectric ceramic stacks; Ceramics; Electromagnets; Finite element methods; Kinematics; Micromechanical devices; Microscopy; Mobile robots; Position measurement; Sun; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626843

Filename

1626843