Analysis and Motion Control of a Centrifugal-Force Microrobotic Platform

This paper presents the analysis, design, and closedloop motion control of a mobile microrobotic platform capable of micrometer positioning on a plane. The mobile microrobot, including chassis, actuators, drives, microprocessor, and electronics, is of low cost (less than $20), can be fabricated rapidly and is made of commercially available components. Its motion is induced by centrifugal forces…