检索结果-南通市图书馆

Miniaturized Twin-legged Robot with an Electromagnetic Oscillatory Actuator

Journal of Bionic Engineering 2018年第1期15卷 106-113页

作者： buhyun shin Youngshik Kim Jamie Paik Kyung-min Lee Department of Mechanical Engineering Hanbat National University 125 Dongseodaero Yuseong-gu Daejeon 34158 Republic of Korea The Institute of Mechanical Engineering EPFL BM 4118 Station 17 1015-Lausanne Switzerland School of Mechanical Engineering Yeungnam University 280 Daehak-Ro Gyeongsan Gyeongbuk 38541 Republic of Korea

There have been many studies on the moving mechanism of micro robots, such as stick-slip, inchworm like motion, and impact drive. Novel actuators like lead zirconate titanate （PZT）, Shape Memory Alloy （SMA）, magnetostrictive materials, electromagnetic actuators, electoractive polymers, ultrasonic linear motors, and dielectric elastomers are utilized to realize the moving mechanism. The use of a conventional electromagnetic actuator is unfavorable, because of a few drawbacks, such as generation of stray magnetic fields, hard to miniaturize to the millimeter scale because of 3D integration and a scaling law, and power consumption to maintain a certain position. This research presents a micro robot that uses an electromagnetic actuator customized and developed for micro robot. The electromagnetic actuator is designed from a Brushless Direct Current （BLDC） motor to overcome the drawbacks mentioned above. The developed robot is composed of two electromagnetic actuators. The overall size of the robot is 20 mm × 11 mm× 9 mm （length × height × width） and the weight is 3 g. The developed robot is able to move bidirectionally with a maximum moving speed of 15.76 mm·s︿-1 （0.79 body-length per second）. The optimal conditions of an input signal are calculated theoretically and verified with experiments.

关键词： electromagnetic actuator oscillatory actuator bionic micro robot stick-slip brushless DC motor

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Clawed Miniature Inchworm Robot Driven by Electromagnetic Oscillatory Actuator

引用

Journal of Bionic Engineering 2015年第4期12卷 519-526页

作者： Kyung-min Lee Youngshik Kim Jamie K. Paik buhyun shin 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

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.

关键词： electromagnetic actuator micro mobile robot inchworm crawler locomotion

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：