CAJ | 학술논문

本文介绍了采用2毫米电磁型微马达作为驱动器的移动微型机器人．其整体尺寸为10mm×6mm×5mm．作为微型机器人的核心部件，微马达采用电磁型轴向磁通结构以获得较大的输出力矩．该马达的设计创新还在于其控制上可以在不同的阶段采用同步电机和步进电机两种控制方式．微型机器人的控制器通过超细直径的柔性导线与机械结构相连，创新的结构设计使得机器人的转弯半径非常小，将导线连接的影响降至极小．通过算法可以控制该机器人前进、后退、灵活转弯．本文详细论述了该微机器人的设计、制作、结构部件和性能．
본문개소료채용2호미전자형미마체작위구동기적이동미형궤기인．기정체척촌위10mm×6mm×5mm．작위미형궤기인적핵심부건，미마체채용전자형축향자통결구이획득교대적수출력구．해마체적설계창신환재우기공제상가이재불동적계단채용동보전궤화보진전궤량충공제방식．미형궤기인적공제기통과초세직경적유성도선여궤계결구상련，창신적결구설계사득궤기인적전만반경비상소，장도선련접적영향강지겁소．통과산법가이공제해궤기인전진、후퇴、령활전만．본문상세논술료해미궤기인적설계、제작、결구부건화성능．
The paper describes a mobile microrobot incorporating a novel type of electromagneticmicromotor. The overall dimensions of the microrobot are 12mm × 8mm × 6mm. Two micromotors are usedto actuate the two driving wheels. As the key part of microrobot, the micromotor adopts the novel structurewhich could get larger output torque. Another merit of the microrobot is that it could be controlled indifferent ways to adapt the different applications. The controller controls the microrobot by flexibleultraminiature wires to move forward and backward, and turn left and right. The design, fabrication,structure, and performance of the microrobot are described in detail in the paper.