A Millimeter-Scale Rolling Microrobot Driven by a Micro-Geared Ultrasonic Motor
A Millimeter-Scale Rolling Microrobot Driven by a Micro-Geared Ultrasonic Motor
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DOI：
10.1109/lra.2021.3104227
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发表时间：
2021-10-01
影响因子：
5.2
通讯作者：
Mashimo, Tomoaki
中科院分区：
文献类型：
--
作者：
Hutama, Rudolf Yoga;Khalil, Mohamed M.;Mashimo, Tomoaki
介绍了一种由微型超声电机和微型行星轮系驱动的毫米级滚动微型机器人。微型超声波电机由边长为2 mm的金属立方体组成，可以产生60 μ Nm的扭矩和超过4500 rpm的速度。通过连接一个齿轮比为64的微型行星齿轮系，组装的齿轮电机获得了高扭矩，可以提升有效载荷，最大扭矩为1 mNm。原型微型机器人，连续滚动轮由齿轮电机驱动，测量长度为14毫米，宽度为10毫米，高度为7毫米，重640毫克。这种微型机器人是毫米级最小和最强大的移动的机器人之一。在实验中，微机器人在0 °、15 °、30 °和45 °的斜面上运行，以评估其运动性能。微型机器人在水平面上达到5.6 mm/s的速度，即使在摩擦系数足够高的陡坡上也能保持其速度，即使摩擦系数低的斜坡会由于车轮的滑动而降低速度。
We present a millimeter-scale rolling microrobot driven by a set of a micro ultrasonic motor and a micro planetary gear train. The micro ultrasonic motor, consisting of a metallic cube with a side length of 2 mm, can produce a torque of 60 mu Nm and speed exceeding 4500 rpm. By attaching a micro planetary gear train with a gear ratio of 64, the assembled geared motor obtains high torque that can lift a payload with a maximum torque of 1 mNm. The prototype microrobot, with continuously rolling wheels driven by the geared motor, measures 14 mm in length, 10 mm in width, and 7 mm in height and weighs 640 mg. This microrobot is one of the smallest and most powerful mobile robots available at the millimeter scale. In the experiments, the microrobot is operated on planes with the slopes of 0 degrees, 15 degrees, 30 degrees, and 45 degrees for evaluating its locomotion performance. The microrobot reaches a velocity of 5.6 mm/s on a horizontal plane and maintains its speed even on sharp slopes with a sufficiently high friction coefficient, even though slopes with low friction reduce the velocity owing to the slip of wheels.