Locomotion methods of mobile microrobots

LI Min; ZHANG Ya-nan; GONG Zhen-bang

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Locomotion methods of mobile microrobots

更新时间：2020-08-12

- Locomotion methods of mobile microrobots
- Optics and Precision Engineering Vol. 8, Issue 4, Pages: 303-308(2000)
- 作者机构：
  
  上海大学精密机械工程系上海,201800
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Received：17 March 2000，
  
  Revised：03 April 2000，
  
  Published Online：15 August 2000，
  
  Published：15 August 2000
- 稿件说明：
移动端阅览
李旻, 章亚男, 龚振邦. 微小机器人的移动方式[J]. 光学精密工程, 2000,(4): 303-308

LI Min, ZHANG Ya-nan, GONG Zhen-bang . Locomotion methods of mobile microrobots[J]. Editorial Office of Optics and Precision Engineering, 2000,(4): 303-308
李旻, 章亚男, 龚振邦. 微小机器人的移动方式[J]. 光学精密工程, 2000,(4): 303-308 DOI：

LI Min, ZHANG Ya-nan, GONG Zhen-bang . Locomotion methods of mobile microrobots[J]. Editorial Office of Optics and Precision Engineering, 2000,(4): 303-308 DOI：

摘要

微小机器人是微机电系统研究开发的重要分支

各种微小机器人的研究成果不断涌现.受自身尺寸和作业空间的限制

微小机器人难以采用常规机器人的驱动器、传动机构和执行机构.根据移动方式的不同

将微小机器人分为腿足式、轮式、蠕动式和游动式等类型.讨论了各种移动类型的例子

分析研究了它们新颖的驱动机构.认为驱动器的微型化是实现微小机器人的关键

高效合理的驱动方式可降低对微小驱动器的要求.

Abstract

Microrobotics is an important branch of MEMS. Many microrobots have been invented and they will be widely used in the future. The ways of designing and manufacturing microrobots are different from those of ordinary robots. Because of their narrow working environments and special usage

it is almost impossible to apply conventional actuators

transmission mechanisms and executive mechanisms to microrobots. According to their locomotion methods

microrobots can be classified into four types(legged type

wheeled type

worming type and swimming type). Some prototypes based on each locomotion method are discussed and their novel mechanisms are analyzed. The miniaturization of actuators is the key to the design of microrobots. The conclusion is reached that innovative and efficient locomotion methods can lower the demand on micro actuators.

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Keywords

references

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Related Institution

Department of Precision Mechanical Engineering， Shanghai University

SKL of Applied Physics and Chemistry, Shaanxi Applied Physics-Chemistry Research Institute

SKL of mechanical manufacturing system engineering, Xi'an JIAOTONG University

Key Laboratory of MEMS of Ministry of Education, Southeast University

Graduate School of the Chinese Academy of Sciences

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