Clawed Miniature Inchworm Robot Driven by Electromagnetic Oscillatory Actuator

作     者：Kyung-min Lee Youngshik Kim Jamie K. Paik Buhyun Shin 

作者机构：Korean Intellectual Property Office Gov. Complex-Daejeon Bldg. 4 189 Cheongsa-ro Se-gu Daejeon 302-701 Korea Department of Mechanical Engineering Hanbat National University 125 Dongseodaero Yuseong-gu Daejeon 305-719 Korea The Institute of Mechanical Engineering EPFL STIlGM UPPAIK BM 4118 (B~timent BM) Station 17 Switzerland 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2015年第12卷第4期

页      面：519-526页

核心收录：

学科分类：080903[工学-微电子学与固体电子学] 081702[工学-化学工艺] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0817[工学-化学工程与技术] 080501[工学-材料物理与化学] 0805[工学-材料科学与工程（可授工学、理学学位）] 080502[工学-材料学] 

基　　金：supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science  ICT & Future Planning 

主　　题：electromagnetic actuator micro mobile robot inchworm crawler locomotion 

摘      要：In this research we propose a novel inchworm robot, which is composed of an Electromagnetic Oscillatory Actuator （EOA） and claws. The EOA consists of a yoke, a magnet, and a coil. The overall robot size is 12.2 mm x 11 mm x 9 mm （length x height ~ width）. The locomotion of the robot is achieved by different amounts of slips when the robot stretches and contracts its front leg. To realize locomotion, the working conditions were calculated theoretically and the calculated input signal was applied to the robot. The performance of the inchworm robot was evaluated experimentally with varying input voltages and frequencies. A simple op-amps based driving circuit was used to provide a square-wave input. Travel speed, average distance per step of the robot, and moving distance of the leg and body at each step were measured. The maximum travel speed was 36 mm-s-1 at 30 Hz, which validates our simple locomotion strategy experimentally.