Development of micro mobile machine with wheels

We have developed two types of micro mobile machine with wheels made up of two electromagnetic ultrasmall motors and four wheels. One is a wired type of size of less than 10 mm/spl times/10 mm/spl times/10 mm. The energy and control signal is supplied through the electric wire. It can be controlled by changing the frequency supplied to the two motors respectively in four directions: forward, backward, left-turn, and right-turn. It has achieved a speed of 300 mm/sec and a gradability of 15 degrees. The other is a wireless type of size of less than 1 in/spl times/1 in/spl times/1 in. It is installed with the sensor, the driving control circuit and battery. Wireless operation is made possible by optically transmitting infrared ray signals. It can drive in four directions on a horizontal plane. This paper describes these structures and how to control these machines.