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| Proper wheel size can reduce heat-radiation of the micromotor for a microrobot. The optimal design of the wheel size for an omnidirectional mobile microrobot is based on dynamic analysis and simulation. The millimeters-sized microrobot has novel dual-wheel structures driven by the electromagnetic micromotors. The dynamic analysis of the dual-wheel considers the micromotor torque, the platform resistance and the bearing friction. Through analyzing the linear movement and the steering movement, the equations are derived to show the relation between the wheel size and the micromotor torque. With these equations, MATLAB simulation presents the reasonable wheel separation, width and radius. The experiment demonstrates the validity of the optimal design. |
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| Keywords:Optimazition, Mobile microrobot, Dynamic analysis, Micromotor |
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