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- W1643994432 abstract "This paper presents an omni-directional mobile microrobot for micro-assembly in a micro-factory. A novel structure is designed for omni-directional movement with three normal wheels. The millimeter-sized microrobot is actuated by four electromagnetic micromotors whose size is 3.1 mm × 3.1 mm × 1.4 mm. Three of the micromotors are for translation and the other one is for steering. The micromotor rotors are designed as the wheels to reduce the microrobot volume. A piezoelectric micro-gripper is fabricated for grasping micro-parts. The corresponding kinematics matrix is analyzed to prove the omni-directional mobility. A control system composed of two CCD cameras, a host computer and circuit board is designed. The macro camera is for a global view and the micro camera is for local supervision. Unique location methods are proposed for different scenarios. A microstep control approach for the micromotors is presented to satisfy the requirement of high positioning accuracy. The experiment demonstrates the mobili..." @default.
- W1643994432 created "2016-06-24" @default.
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- W1643994432 date "2007-01-01" @default.
- W1643994432 modified "2023-09-24" @default.
- W1643994432 title "An omni-directional mobile millimeter-sized microrobot with 3-mm electromagnetic micromotors for a micro-factory" @default.
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- W1643994432 doi "https://doi.org/10.1163/156855307781746089" @default.
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