Title :
Two-dimensional motion control of micro-robot by using two pairs of Helmholtz coils
Author :
Jinsoo Kim ; Chan Park ; Jeonghoon Yoo ; Seung-Jong Kim
Author_Institution :
Center for Bionics, Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
This paper proposes a simplified electromagnetic actuation system for the motion control of a micro-robot. The proposed system uses only two pairs of Helmholtz coils for two-dimensional motion generation, while conventional systems use two pairs of Helmholtz coils and Maxwell coils, respectively. It can make the system smaller and increase the workspace of the micro-robot. And also, power consumption can be lower. To verify the feasibility of the proposed system, force analysis and basic experiments were performed.
Keywords :
coils; electromagnetic actuators; microrobots; motion control; 2D motion control; 2D motion generation; Helmholtz coils; Maxwell coils; electromagnetic actuation system; electromagnetic driving system; force analysis; microrobot; power consumption; Indexes; Electromagnetic driving system; Helmholtz coil; Maxwell coil; Micro-robot;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695655