A Magnetic Wheel Structure for an Omnidirectional Microrobot to Limit Slip Effect

To fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. Tofinish the micron size task, the positioning precision of the robot is highly important. But some unpredictablefactors, especially the slip effect in wheel, would affect the precision of the robot and cause unwanted deviation. Tolimit the deviation and optimize the positioning performance of the robot, a new wheel structure is designed. Thedesign of the new wheel is based on magnetic principle while considering the potential problems brought by themagnetic units. With nonlinear dynamic analysis with slip of the microrobot and simulations based on it, theslippage effect is shown to be limited a lot with the application of new wheel structure. And following experimentsare executed to verify the optimization brought by the magnetic wheel structure