Design And Research On Modular Mobile Microrobots Based On Passive Joints

In recent years, with the development of MEMS technology, robots are becoming smaller, so large amounts of microrobots with different functions are invented. These microrobots are variously used in the field of medical biotechnology, micro-nano processing, industrial inspection and military. The research object of this article is a modular mobile microrobots system based on passive joints.According to the design task, actuating device and climbing constructure are designed for microrobots of the size within 30 mm as well as connecting devices based on passive joints. Spherical surface is chosen for this connecting device, and the neighboring modules can realize connecting and disconnecting function with the help of mechanical construction. This device has simple construction and reliable connection to help robots move on complex surface in different shapes. LPC2106-01 is chosen as control unit for microrobots. This control system is composed of this control unit as well as image acquisition module, power management module, wireless data transmission modules and motor control module.The motion module of microrobots based on passive joints is studied as well as the coordinated motion control method based on angle feedback. Formation strategies are studied to make chain-type robots complete the desired track so as to realize turning round and obstacle avoidance function. In the experiments, circle trajectory and S trajectory are designed to test the reliability of this control method. The results show that the angle errors between models are within 1°which proves the practicality of this control method.