中文摘要：

研究了用于微装配操作的毫米级全方位微机器人，重点分析了影响其运动精度的结构设计与控制方法。指出了结构设计的优点和不足，主要涉及传动系统、轮子的安装等；控制方法主要涉及路径规划和驱动器电磁微马达等。提出了对工作区域进行分区的路径规划控制方法，解决了微机器人直线运动的非线性问题。针对电磁微马达的结构特点，提出了矢量合成、力矩自平衡等特殊的控制方法和思想，将微机器人步进运动精度较常规控制方法提高了3倍。实验结果表明，微机器人能够准确运动到微装配目标区域，运动精度达到0．07mm／step，基本满足微装配的应用要求。

英文摘要：

An omni-directional mobile microrobot for microassembly in a microfactory was presented. The microrobot was less than one cubic centimeter in size, and was driven by four electromagnetic mieromotors with 3 mm diameter. The two important aspects for the microrobot precision,the structure design and control methods were analyzed. The structure design included the transmission system and the wheel fabrication and the control methods included the path planning and electromagnetic micro-motor. In order to eliminate the drawbacks of microrobot structure, several nove control methods and ideas including the path planning and micromotor control were introduced. This path planning method was designed to solve the nonlinear problem of the microrobot during translational movement. Moreover,according to the structure constraint of the electromagnetic micromotor,the vector synthesis control of the torque was presented and the torque self-balance characteristic was utilized to improve the microrobot precision. Experimental results show that the microrobot can achieve 0.07 mm/step during translation,and 0.83°/step during steering, which is three times that of the common control method. The microassembly experiments demonstrate the validity of these microrobot control methods, which shows the microrobot can satisfy the application requirements of microassembly.