Microactuators are perhaps the most critical components of micromechatronic systems. Micromotors with diameters in the range between 10-1 mm are needed, but are not readily available for practical use. This paper describes a teleoperated mobile microrobot, actuated by a new electromagnetic wobble micromotor, and designed to participate in the "International Micro Robot Maze Contest" organized every year in Nagoya, Japan. This competition is an excellent benchmark to compare the performance of different microactuators. The working principle, design, fabrication, and performance of the wobble micromotor are described. The microrobot has a volume of 1 cm/sup 3/ and incorporates two wobble micromotors, the rotors of which are the driving wheels. The micromotor generates a torque of 350 /spl mu/N/spl middot/m at each step and a maximum speed of about 180 r/min. The operator controls the motion of the microrobot by a remote joystick connected to the microrobot by flexible ultraminiature wires. The microrobot is highly maneuverable, has a maximum speed of 10 cm/s and can climb a slope of 15/spl deg/. Two microrobots, which differ only in some constructive details, were fabricated. A smaller version (4-mm diameter) of the wobble micromotor has been developed for use in an innovative miniature robot system for diagnosis and intervention in the colon.
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机译：微致动器可能是微机电系统中最关键的组件。需要直径在10-1 mm之间的微型电动机，但实际应用中不容易获得。本文描述了一种由新型电磁摆动微电机驱动的遥控移动微型机器人，该机器人旨在参加每年在日本名古屋举办的“国际微型机器人迷宫竞赛”。这项竞赛是比较不同微执行器性能的出色基准。描述了摆动微电机的工作原理，设计，制造和性能。微型机器人的体积为1 cm / sup 3 /，并包含两个摆动式微型电机，其转子为驱动轮。微型马达在每个步骤中产生的扭矩为350 / spl mu / N / spl middot / m，最大速度约为180 r / min。操作员通过通过柔性超细电线连接到微型机器人的远程操纵杆来控制微型机器人的运动。微型机器人具有很高的机动性，最大速度为10 cm / s，可以爬升15 / spl deg /的坡度。制造了两个微型机器人，它们仅在某些构造上有所不同。已开发出一种较小版本（直径4毫米）的摆式微电机，用于创新的微型机器人系统，用于结肠的诊断和干预。
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