中文摘要：

介绍了一种尺寸为9mm×8mm×8mm的全方位移动微机器人．采用独特的双轮结构实现了转向时轮与地面的纯滚动．该微机器人由3个直径2mm的电磁微马达驱动；其中2个用于直线驱动，另一个用于转向．动力学分析揭示了微马达驱动力矩与双轮结构尺寸及各种摩擦之间的关系．仿真计算及实验表明微机器人具有良好的负载能力，满足微型工厂中搬运工作的要求．

英文摘要：

An omnidirectional mobile mierorobot with a size of 9 mm × 8 mm × 8 mm is introduced. Pure rolling movement between the wheels and the ground are achieved with a novel dual-wheel structure. The microrobot is driven by three electromagnetic mieromotors with 2 mm diameter. Two of the micromotors are for translation and the other one is for steering. Dynamics is analyzed to unveil the relation between the micromotor torque and the dual-wheel structure size as well as various frictions, Simulation and experiment results demonstrate that the microrobot has good load-carrying ability and satisfies the requirements of handling task in a microfactory.