Displacement of a Micro Robot on an Inclined Surface

Abstract

We proposed a micro robot which consisted of electromagnets and piezoelectric elements. The proposed micro robot, which has closed-loop nagnetic field, is operated on a magnetic floor. The principle of the micro robot is based on an inchworm motion. We describe the linear displacement of the micro robot on an inclined surface. The relationships among the electromagnetic force, the applied voltage to the piezoelectric elements, and the displacement are described. The rotational displacement is also described.