Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot
نویسندگان
چکیده
منابع مشابه
Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot
This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employe...
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Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper...
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This paper presents an omni‐directional wall‐ climbing microrobot with magnetic wheels. The integral design with an actuator and adhesive is realized by integrating stators and rotors of an MEMS‐based electromagnetic micromotor with a magnetic wheel. The omni‐directional wall‐climbing mechanism is designed by a set of steering gears and three standard magnet...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2008
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5648