A Mobile Self-Reconfigurable Microrobot with Power and Communication Relays

[摘要] A modular mobile self-reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS-based electromagnetic micromotors. To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented. Experimental results verify high efficiency and reliability of the proposed docking method, and demonstrate the improved ability of performing large-range vision-based surveillance by power and communication relays.

[学科分类] 自动化工程

[关键词] mobile microrobot;self-reconfiguration;electromagnetic micromotor;docking;relay