Three-dimensional locomotion and drilling microrobot using electromagnetic actuation system

Jie Li; Hyunchul Choi; Kyoungrae Cha; Semi Jeong; Jongoh Park; Sukho Park

doi:10.3795/KSME-A.2011.35.12.1573

Three-dimensional locomotion and drilling microrobot using electromagnetic actuation system

Jie Li, Hyunchul Choi, Kyoungrae Cha, Semi Jeong, Jongoh Park, Sukho Park

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Contribution to journal › Article › peer-review

Abstract

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three-dimensional 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.

Original language	English
Pages (from-to)	1573-1578
Number of pages	6
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	35
Issue number	12
DOIs	https://doi.org/10.3795/KSME-A.2011.35.12.1573
State	Published - Dec 2011

Keywords

Electromagnetic Actuation System
Helmholtz Coil
Maxwell Coil
Microrobot

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10.3795/KSME-A.2011.35.12.1573

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title = "Three-dimensional locomotion and drilling microrobot using electromagnetic actuation system",

abstract = "In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three-dimensional 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 = "Electromagnetic Actuation System, Helmholtz Coil, Maxwell Coil, Microrobot",

author = "Jie Li and Hyunchul Choi and Kyoungrae Cha and Semi Jeong and Jongoh Park and Sukho Park",

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AU - Li, Jie

AU - Choi, Hyunchul

AU - Cha, Kyoungrae

AU - Jeong, Semi

AU - Park, Jongoh

AU - Park, Sukho

PY - 2011/12

Y1 - 2011/12

N2 - In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three-dimensional 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.

AB - In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three-dimensional 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.

KW - Electromagnetic Actuation System

KW - Helmholtz Coil

KW - Maxwell Coil

KW - Microrobot

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JO - Transactions of the Korean Society of Mechanical Engineers, A

JF - Transactions of the Korean Society of Mechanical Engineers, A

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Three-dimensional locomotion and drilling microrobot using electromagnetic actuation system

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Keywords

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