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Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

전자기 구동 시스템을 이용한 마이크로로봇의 3차원 이동 및 드릴링

  • Li, Jie (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Choi, Hyun-Chul (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Cha, Kyoung-Rae (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Jeong, Se-Mi (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Park, Jong-Oh (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Park, Suk-Ho (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.)
  • 이걸 (전남대학교 기계공학부) ;
  • 최현철 (전남대학교 기계공학부) ;
  • 차경래 (전남대학교 기계공학부) ;
  • 정세미 (전남대학교 기계공학부) ;
  • 박종오 (전남대학교 기계공학부) ;
  • 박석호 (전남대학교 기계공학부)
  • Received : 2011.05.25
  • Accepted : 2011.09.06
  • Published : 2011.12.01

Abstract

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in threedimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

Keywords

Microrobot;Electromagnetic Actuation System;Helmholtz Coil;Maxwell Coil

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