Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

전자기 구동 시스템을 이용한 마이크로로봇의 3차원 이동 및 드릴링

  • Li, Jie (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Choi, Hyun-Chul (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Cha, Kyoung-Rae (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Jeong, Se-Mi (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Park, Jong-Oh (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.) ;
  • Park, Suk-Ho (Dept. of Mechanical Engineering, Chonnam Nat'l Univ.)
  • Received : 2011.05.25
  • Accepted : 2011.09.06
  • Published : 2011.12.01
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Abstract

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

이 논문에서는 전자기구동시스템을 기반으로 이동 및 드릴링 기능을 수행하는 의료용 마이크로로봇 시스템을 제작하고 평가하였다. 마이크로로봇은 너무 작아 내부에 배터리나 제어장치를 삽입 할수 없다. 이 결점을 극복하기 위하여 외부에서 전자기 코일 시스템을 이용하여 전자기장의 힘으로 마이크로로봇을 구동 시킨다. 전자기 구동 코일 시스템은 x, y, z 각축에 사각형 타입의 헬름홀쯔 코일 3 쌍과 z축에 솔레노이드형 맥스웰 코일 1 쌍이 배치 되어 있고, 각 코일에 인가되는 전류값의 조절에 따라 구동에 필요한 자기장을 발생 시킨다. 다양한 실험을 통하여 우리는 제안된 시스템을 이용하여 마이크로로봇이 3 차원 공간에서 이동 가능하며 드릴링 기능을 수행할 수 있다는 것을 보였다.

Keywords

References

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