Title :
Miniature robots with three degrees of freedom
Author :
Koyanagi, Tomohiro ; Fukui, Ryoji ; Tori, Akihiro ; Ueda, Akiteru
Author_Institution :
Dept. of Electr. Eng., Aichi Inst. of Technol., Toyota, Japan
Abstract :
We manufacture two miniature robots: a Y-shape miniature robot and a Δ-shape miniature robot. The robots realize displacement in X, Y and Θ directions. The principle of the displacement is described. The displacement and velocity of the Δ-shape robot are measured. The displacement of the Δ-shape robot on an inclined surface is discussed
Keywords :
electromagnetic actuators; microrobots; mobile robots; piezoelectric actuators; robot dynamics; Y-shape robot; delta-shape robot; electromagnets; flat surface; inclined surface; linear displacement; miniature robots; piezoelectric elements; precision positioning robots; rotational displacement; three degrees of freedom; velocity; Displacement measurement; Electromagnetic forces; Electromagnetic measurements; Electromagnets; Fasteners; Magnetic flux; Robots; Velocity measurement; Voltage control; Wire;
Conference_Titel :
Micromechatronics and Human Science, 2000. MHS 2000. Proceedings of 2000 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6498-8
DOI :
10.1109/MHS.2000.903314
