WIRELESS MINIATURE ROBOT AND ITS CONTROL SYSTEM

QIN Lei  LI Mantian  SUN Lining

(Robotic Institute, Harbin Institute of Technology, Harbin 150001)  

Abstract: : A miniature mobile robot facing on precision manipulation is developed and the wireless control system is designed. This robot is composed of moving allocation unit basing on macro/micro dual moving manner and spherical manipulator with three degrees of freedom. The whole robot occupies a volume of 90 mm´70 mm´60 mm. In the macro-moving manner, using the micro motor with the diameter of 3 mm, the robot can move at high speed up to 100 mm/s. And the positioning accuracy is up to 0.5 mm as well as the moving resolution is 0.1 mm. In the micro-moving manner, according to principle of inchworm, the robot can move at a speed of 200 μm/s with 50 μm positioning accuracy and 2 μm resolution. Three pizeo-ceramic tubes basing on the principle of stick-slip drive the spherical manipulator. The manipulator can rotate around z-axis or move up and down. The accuracy of spherical manipulator is 0.001°. All driving circuits are integrated in the body of robot. Two polymeric lithium-metal cells are selected as the power source. The robot communicates with the image processing system through a blue tooth model. For convenient control, the locomotion of robot is decomposed several sample motion modes. By applying the multiple threads technology to program, the performance of real time operation is good.

Key words: Dual driving Miniature robot Blue-tooth communication

CLC No: TP24

国家863计划资助项目(2003AA404190). Received 20051027, received in revised form 20051215